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To install the ros1_bridge you need to add the ROS 1 APT repository to your sources.

You can find how to do so at

Copying it here for a self-contained answer:

sudo sh -c 'echo "deb $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update

After that you should be able to install the ros1-bridge deb:

sudo apt install ros-foxy-ros1-bridge