I installed ROS1 noetic and ROS2 galactic from source in docker, Jetson tx2. While I sourced in the following order, ros1_bridge installation fails.

1) source /opt/ros/noetic/setup.zsh

2) source /opt/ros/galactic/install/setup.zsh

3) source ~/ros2_pkgs/install/setup.zsh <- ros2 packages

4) cd ~/ros1_bridge <- ros1_bridge git w/ galactic branch

5) colcon build --symlink-install --cmake-force-configuration --packages-select ros1_bridge

 Starting >>> ros1_bridge
[Processing: ros1_bridge]                              
[Processing: ros1_bridge]                                      
--- stderr: ros1_bridge                                          
libros1_bridge.so: undefined reference to `ros1_bridge::Factory<vision_msgs::Detection3D_<std::allocator<void> >, vision_msgs::msg::Detection3D_<std::allocator<void> > >::convert_1_to_2(vision_msgs::Detection3D_<std::allocator<void> > const&, vision_msgs::msg::Detection3D_<std::allocator<void> >&)'
libros1_bridge.so: undefined reference to `ros1_bridge::Factory<vision_msgs::Detection2D_<std::allocator<void> >, vision_msgs::msg::Detection2D_<std::allocator<void> > >::convert_2_to_1(vision_msgs::msg::Detection2D_<std::allocator<void> > const&, vision_msgs::Detection2D_<std::allocator<void> >&)'
libros1_bridge.so: undefined reference to `ros1_bridge::Factory<vision_msgs::Detection2D_<std::allocator<void> >, vision_msgs::msg::Detection2D_<std::allocator<void> > >::convert_1_to_2(vision_msgs::Detection2D_<std::allocator<void> > const&, vision_msgs::msg::Detection2D_<std::allocator<void> >&)'
libros1_bridge.so: undefined reference to `ros1_bridge::Factory<vision_msgs::Detection3D_<std::allocator<void> >, vision_msgs::msg::Detection3D_<std::allocator<void> > >::convert_2_to_1(vision_msgs::msg::Detection3D_<std::allocator<void> > const&, vision_msgs::Detection3D_<std::allocator<void> >&)'
collect2: error: ld returned 1 exit status
make[2]: *** [dynamic_bridge] Error 1
make[1]: *** [CMakeFiles/dynamic_bridge.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
libros1_bridge.so: undefined reference to `ros1_bridge::Factory<vision_msgs::Detection3D_<std::allocator<void> >, vision_msgs::msg::Detection3D_<std::allocator<void> > >::convert_1_to_2(vision_msgs::Detection3D_<std::allocator<void> > const&, vision_msgs::msg::Detection3D_<std::allocator<void> >&)'
libros1_bridge.so: undefined reference to `ros1_bridge::Factory<vision_msgs::Detection2D_<std::allocator<void> >, vision_msgs::msg::Detection2D_<std::allocator<void> > >::convert_2_to_1(vision_msgs::msg::Detection2D_<std::allocator<void> > const&, vision_msgs::Detection2D_<std::allocator<void> >&)'
libros1_bridge.so: undefined reference to `ros1_bridge::Factory<vision_msgs::Detection2D_<std::allocator<void> >, vision_msgs::msg::Detection2D_<std::allocator<void> > >::convert_1_to_2(vision_msgs::Detection2D_<std::allocator<void> > const&, vision_msgs::msg::Detection2D_<std::allocator<void> >&)'
libros1_bridge.so: undefined reference to `ros1_bridge::Factory<vision_msgs::Detection3D_<std::allocator<void> >, vision_msgs::msg::Detection3D_<std::allocator<void> > >::convert_2_to_1(vision_msgs::msg::Detection3D_<std::allocator<void> > const&, vision_msgs::Detection3D_<std::allocator<void> >&)'
collect2: error: ld returned 1 exit status
make[2]: *** [parameter_bridge] Error 1
make[1]: *** [CMakeFiles/parameter_bridge.dir/all] Error 2
libros1_bridge.so: undefined reference to `ros1_bridge::Factory<vision_msgs::Detection3D_<std::allocator<void> >, vision_msgs::msg::Detection3D_<std::allocator<void> > >::convert_1_to_2(vision_msgs::Detection3D_<std::allocator<void> > const&, vision_msgs::msg::Detection3D_<std::allocator<void> >&)'
libros1_bridge.so: undefined reference to `ros1_bridge::Factory<vision_msgs::Detection2D_<std::allocator<void> >, vision_msgs::msg::Detection2D_<std::allocator<void> > >::convert_2_to_1(vision_msgs::msg::Detection2D_<std::allocator<void> > const&, vision_msgs::Detection2D_<std::allocator<void> >&)'
libros1_bridge.so: undefined reference to `ros1_bridge::Factory<vision_msgs::Detection2D_<std::allocator<void> >, vision_msgs::msg::Detection2D_<std::allocator<void> > >::convert_1_to_2(vision_msgs::Detection2D_<std::allocator<void> > const&, vision_msgs::msg::Detection2D_<std::allocator<void> >&)'
libros1_bridge.so: undefined reference to `ros1_bridge::Factory<vision_msgs::Detection3D_<std::allocator<void> >, vision_msgs::msg::Detection3D_<std::allocator<void> > >::convert_2_to_1(vision_msgs::msg::Detection3D_<std::allocator<void> > const&, vision_msgs::Detection3D_<std::allocator<void> >&)'
collect2: error: ld returned 1 exit status
make[2]: *** [static_bridge] Error 1
make[1]: *** [CMakeFiles/static_bridge.dir/all] Error 2
make: *** [all] Error 2
---
Failed   <<< ros1_bridge [1min 19s, exited with code 2]

Summary: 0 packages finished [1min 20s]
  1 package failed: ros1_bridge
  1 package had stderr output: ros1_bridge