This package can transform the joy messages to mavros rc messages and I have already tested it in TBS TANGO remote control. If your use other remote control, you may chage the config/joy.yaml.
1、Build
Clone the repository and catkin_make(Ubuntu20.04):
sudo apt install ros-noetic-joy ros-noetic-mavos ros-noetic-mavros-extras
cd ~/catkin_ws/src
git clone https://github.com/flysoaryun/joy_to_mavros.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
2、Run
roslaunch joy_to_mavros joy.launch