/usr/share/sensor_msgs/msg/Joy.msg is in libsensor-msgs-dev 1.12.3-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 | # Reports the state of a joysticks axes and buttons.
Header header # timestamp in the header is the time the data is received from the joystick
float32[] axes # the axes measurements from a joystick
int32[] buttons # the buttons measurements from a joystick
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