I'm not sure about either answer.
If we were just talking about a random piece of junk, it seems like nobody has the right to steal anything or take anything by force (or by Force), so the answer would be a clear-cut "yes" and "no," respectively to your questions. Although, given the general lawlessness of Jakku, it's possible that Rey, Teedo, and anybody else could live almost completely on a legal system of, "do whatever you can back up with a weapon." I get the feeling that, if anybody mugs anybody else out in the deserts of that planet, the rest of them just kinda look the other way. There might be a few semi-important people who control a bit more of that place (Unkar Plutt is the only "boss" I can think of) and whose word might have more of a judicial authority, but other than that, I think it's almost all permissible.
However, there's still a question of morals, and we can always assume that there are general laws over this sort of thing in the Star Wars universe. Because droids have consciousnesses in Star Wars, that raises an interesting question about the ownership of their "species." Theoretically, they should "own" themselves, although because of the way that everybody treats them, they are basically property. Given those two factors...
Rey didn't have the right to "take" BB-8, but she was justified in liberating him from Teedo. Because...
Teedo didn't have the right to "scavenge" BB-8. BB-8's owner was still alive, and had sent BB-8 to perform a task. This would be like finding somebody's computer and taking it because they weren't around. Or stealing a drone you found flying around.
Rey's compassion for the little droid is almost beside the point. I think that, morally and legally, she was in the right.
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