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Approach described there:
https://www.youtube.com/watch?v=4uKWhfW3_1s
(Using the ROS1 Bridge for ROS1-ROS2 communication) can be used in your case.
From the rosject:
ROS1 Bridge
The ROS1 Bridge package provides several tools in order to allow the communication between ROS1 & ROS2 nodes. This is very useful specially nowadays, when both ROS versions are coexisting and ROS2 is still in a development stage.
Depending on the needs of your project, you might need to enable an specific type of communication. Within this live class we will explore 3 different ways in which we can exchange messages between ROS1 and ROS2:
Dynamic Bridge
Parameter Bridge
Action Bridge
(...)
The rosject on their site also seems to be useful.
ROS 2 package that provides bidirectional communication between ROS 1 and ROS 2:
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