These symptoms are often seen with RA, and especially in the morning, but most often are accompanied by some local redness or heat. Assuming you have no other significant medical history (especially heart or kidney disease) then I think we can safely assume this is due to RA. If you do have either of the other problems as well, then you would need a doctor to make a differential diagnosis to be certain this isn't caused by any additional systemic problem.
One thing you could do which might help in eliminating heart or kidney problems from the list would be a simple self-test wherein you press on the swelling on each ankle or foot fairly firmly, then release. If a dent remains in the swollen area (pitting edema) then there's a greater chance this is due to something besides RA, and you should have yourself checked to make sure everything is in order. If there is no pitting then this is very likely due to RA.
I hope this is helpful to you. Good luck with this. Please follow up with us as needed.
John Kenyon, EMT, CCT
Non-invasive cardiology tech, Emergency and Critical Care technician, Critical Incident Stress Mgmt. specialist