is it possible to read an RC control by arduino and pass to ros2?

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I am trying to read an RC receiver through arduino to be able to control my robot remotely, I would like to know if you know of any guide or similar work to base it on. I am trying to create an publisher with the library "sensor_msgs/msg/joy.h" for arduino to convert the RC pwm to the joy theme type. But it gets a bit confusing and I'm not sure if it's the best way or if there is a better way any advice or help would be appreciated. I am working with ROS2 foxy and an arduino MKRZERO