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I solved myself, still I'm not sure how. The thing I did was to close the terminal dedicated to the bridge and re-do all the source (Linux), on Windows I did nothing. Other things I did previously was:

to remove the firewall with sudo ufw disable, because I wasn't able to see ros2 topics
add export ROS_MASTER_URI=http://localhost:11311 and export ROS_IP=127.0.0.1 in .bashrc. (Maybe this changes were crucial, and I didn't reopen the terminal after them)

Now everything works, tested also with a PoseStamped publisher/subscriber.

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