我使用的环境是ubuntu20.04，ros1的版本为noetic，ros2的版本为foxy。ros1，ros2的下载可以使用小鱼一键下载：

wget http://fishros.com/install -O fishros && . fishros

在ros1和ros2通信之前，先将原来的bash环境注释

sudo vim .~/bashrc
#1) source  /opt/ros/foxy/setup.bash;;
#2) source  /opt/ros/noetic/setup.bash;;  //注释掉这两行

编译ros1_bridge

mkdir -p ros2_ros1_bridge_ws/src
cd ros2_ros1_bridge_ws/src
git clone https://github.com/ros2/ros1_bridge.git
git checkout foxy  //切换到自己ros版本的分支
source /opt/ros/foxy/setup.bash 
colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure

编译成功之后开始运行

1.打开ros1的roscore

source /opt/ros/noetic/setup.bash
roscore

2.Then we start the dynamic bridge which will watch the available ROS 1 and ROS 2 topics. Once a matching topic has been detected it starts to bridge the messages on this topic.

source /opt/ros/noetic/setup.bash
source /opt/ros/foxy/setup.bash
export ROS_MASTER_URI=http://localhost:11311
ros2 run ros1_bridge dynamic_bridge

3.ros1发送messages

source /opt/ros/noetic/setup.bash
rosrun rospy_tutorials talker

4.ros2接收message

source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_cpp listener