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I am doing something similar and this is how I solved this problem.

The arduino nano is responsible to read analog signal and then, from arduino, I can directly publish the data to a specific topic. What you need is the following library in both arduino and raspberry >>> rosserial. I am using it and successfully implement it.

Just follow its tutorial and hopefully, you can do it ;)

Hope you can fight your own way out !!!!

here is another resource that definitely can help you out !

May God bless you ;)