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Did you check out this tutorial Using ros1_bridge with upstream ROS on Ubuntu 22.04?
It requires using ROS 2 built from source:
The release of ROS 2 Humble (and Rolling) on Ubuntu 22.04 Jammy Jellyfish marks the first ROS 2 release on a platform with no official ROS 1 release. While ROS 1 Noetic will continue to be supported through the duration of its long term support window, it will only target Ubuntu 20.04. Alternatively, there are upstream variants of ROS 1 packages in Debian and Ubuntu that are not maintained as an official distribution by the ROS maintainers.
This guide outlines the current mechanism for bridging ROS 2 releases with these upstream packages on Ubuntu 22.04 Jammy Jellyfish. This provides a migration path for users who still depend on ROS 1, but desire moving to newer ROS 2 and Ubuntu releases.
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