I am surprised you managed to install the rest of ros. You need Ubuntu xenial to be able to run on Raspberry pi as far as I understand (which is unfortunate since jessie is the default system ...).
I have never installed it that way so I am not sure how it works, they seems to use a special script to install dependencies?
If you are not using the normal ros distro you will have to find out how to install the joy module. Please update us if you manage, running on raspi is interesting. The section 4.2 of the tutorial talks about installing other package I guess this is what you need.
Otherwise I would suggest running on Ubuntu Xenial since ROS kinetic is officially supported on it (and then the command from the wiki would have worked out of the box).