I suspect that your bridge has only been built with minimal message support (you can verify this with the `--print-pairs` option as suggested). It needs to be built in a particular way to get tf2_msgs and nav_msgs etc support.
Please either switch to using the bridge from binaries, or follow these instructions to build the bridge from source:
https://github.com/ros2/ros1_bridge/blob/master/README.md#build-the-bridge-from-source
This is mentioned in the demo instructions but I'll update it to highlight that this step requires particular attention.
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