For some background, I am creating a wrapper class for the e.DO robot, which was written with ros1 and launches from ros1. I do not have consistent access to the real robot, so I need to use a simulation. I want to connect to this simulation with ros2 directly and be able to send messages to the e.DO simulation. Previously, I was trying to use the ros1_bridge package, but I was wondering if that is necessary. If not, what would you suggest is the best way to go about this problem?

I am using Gazebo 9, Ubuntu 18.04, ros melodic, and ros2 eloquent.