I've been pretty avid about getting a joystick program to work with urbi. I found out though that there is already one of these programs on the urbi site. For the time being though I'm going to keep working on my version. If it's necessary I'll switch to the urbi model at another time. This is the link.
http://www.urbiforge.org/index.php/Modules/Joystick-linux
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