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The most direct way would be to use the parameter_bridge instead of the dynamic_bridge https://github.com/ros2/ros1_bridge#example-4-bridge-only-selected-topics-and-services
The above instructions ^ will work with the ros1_bridge provided by your ROS distribution.
In my own work, I found the separation of the two to be a bit limiting and instead manually combined the parameter_bridge and dynamic_bridge in my team's fork. https://github.com/usdot-fhwa-stol/ros1_bridge (ROS2 foxy). Launched with
rosparam load bridge.yml && source /opt/ros/foxy/setup.bash && ros2 run ros1_bridge dynamic_bridge
To use my fork you would need to compile it following the ros1_bridge instructions. The bridge.yml file takes precedence over the dynamic behavior.
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