I think it is enough. You can benefit from RODBC library like below:
library(RODBC)
dbhandle <- odbcDriverConnect('driver={SQL
Server};server=mysqlhost;database=mydbname;trusted_connection=true')
res <- sqlQuery(dbhandle, 'select * from information_schema.tables')
Ref: SQL Server RODBC Connection
EDIT: For your case, you can try:
library(RODBC)
dbhandle <- odbcDriverConnect('driver={SQL
Server};server=mysqlhost;database=mydbname;uid=yourusername;pwd=yourpassword')
res <- sqlQuery(dbhandle, 'select * from information_schema.tables')
Ref: https://blog.learningtree.com/querying-sql-server-data-from-r-using-rodbc/