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Hello,

I finally got the compilation working. These are the steps I followed:

I deleted the ros1_bridge workspace: rm -rf ~/ros1_bridge

Then, I uninstalled the ros controller-manager-msgs packages:

sudo apt remove ros-noetic-controller-manager-msgs
sudo apt remove ros-foxy-controller-manager-msgs
sudo apt purge ros-noetic-controller-manager-msgs
sudo apt purge ros-foxy-controller-manager-msgs

After that, I re-created the ros1_bridge workspace and again followed the installation steps from the repository (https://github.com/ros2/ros1_bridge).

source /opt/ros/foxy/setup.bash    
sudo apt update
mkdir -p ~/ros1_bridge_ws/src
cd ~/ros1_bridge_ws/src
git clone -b foxy https://github.com/ros2/ros1_bridge.git
cd ~/ros1_bridge_ws
colcon build --symlink-install --packages-skip ros1_bridge

source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash
source /opt/ros/foxy/setup.bash
source ~/colcon_ws/install/setup.bash

colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure

Once the compilation finished successfully, I reinstalled the ros controller-manager-msgs packages:

sudo apt update
sudo apt install ros-noetic-controller-manager-msgs
sudo apt install ros-foxy-controller-manager-msgs

Finally, I tested that the bridge worked!