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Found out after a day of checking around! I'm a beginner and the tutorial doesn't mention it, but ros1_bridge works as a workspace folder so you'd have to source that workspace.

In .bashrc, I alias 3 things:

alias noetic='source /opt/ros/noetic/setup.bash'

alias foxy='source /opt/ros/foxy/setup.bash'

alias bridge='source ~/ros1_bridge/install/setup.bash'

That way, when you want to run ros1_bridge, which is a ros2 workspace, you can use 1 terminal for this. Your terminal command lines should be something like:

$ noetic

$ foxy

$ bridge

$ ros2 run ros1_bridge dynamic_bridge

in this order!

I hope this helps new beginners trying to get into ROS2 and ROS1!