Tf from ROS1 to ROS2

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Hello,

I am running a ubuntu 18 with ROS Melodic which is connected to a ubuntu 20 with ros foxy and noetic. The tf messages are created by the ubuntu 18 then forwarded to the ubuntu 20. I then when to use ros1_bridge on the ubuntu 20 to send them to ros2. All the topics show no issue except /tf, showing the error :

failed to create 1to2 bridge for topic '/tf' with ROS 1 type 'tf2_msgs/TFMessage' and ROS 2 type 'tf2_msgs/msg/TFMessage': No template specialization for the pair.

The error seems pretty clear, but I don't see how to convert the messages, especially since the type is the same, it is just on a folder for ROS2. Thank you a lot if you have a solution