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You can use https://github.com/edc/bass to do that.

bass source /opt/ros/galactic/setup.bash

Also, if you launch fish after sourcing in bash, env values will be reflected.

// .bashrc
source /opt/ros/galactic/setup.bash
fish

For more advanced use cases, please take a look at my settings if you are interested. I've developed a couple of useful plugins.😀

https://github.com/kenji-miyake/dotfiles/blob/main/HOME/.bashrc
https://github.com/kenji-miyake/dotfiles/blob/main/XDG_CONFIG_HOME/fish/config.fish
https://github.com/kenji-miyake/dotfiles/blob/main/XDG_CONFIG_HOME/fish/fish_plugins

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