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You are asking to build the joy target, which doesn't exist. See:

####
#### Running command: "make -j1 joy" in "/root/catkin_ws/build"
####
make: *** No rule to make target `joy'.  Stop.
Invoking "make" failed

In stead of calling catkin_make joy simply call catkin_make and it will build everything in your workspace. In a new version of catkin_make (0.6.53+) there will be a --pkg option where you can specify individual packages from the workspace that you wish to build. See:

https://github.com/ros/catkin/pull/352

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