The encounter is slated for the TP Mazembe Stadium, Lubumbashi on Friday, 13 November.
Joshua will be assisted by his compatriots Brianson Musisi (first assistant referee) and Katerega Ashiraf (second assistant referee).
Another Ugandan, William Oloya, will serve as the fourth official for the game.
Central African Republic duo, Jean Marie Koyakobo and Alain Brice Letokouzou, have been appointed match commissioner and referee assessor, respectively.
Nigeria will host the reverse fixture at the Remo Stars Sports Complex, Ikenne, on Tuesday, 17 November.