How to interface arduino uno or similar microcontrollers with ros2?

can anyone suggest proper method of interfacing arduino with ros2.
The task is to run 6 stepper motors and get encoder values from the sensors and get reading from other sensors like temperature sensor.

Hi, welcome to the community!

You can use micro-ROS for that:

hi, is there any possibility to interface with publisher and subscriber like ros1

I have never done this, but maybe with mqtt:

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