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I checked and to me it looks like all the ROS1 messages are present in ROS2.

Here you can see the ROS standard messages

https://github.com/ros/common_msgs

The ROS2 standard messages on the other hand live here

https://github.com/ros2/common_interfaces

Plus some additional navigation messages https://github.com/ros-planning/navigation2/tree/master/nav2_msgs

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