First of all apologies for the delayed response I was tied up with other things and could not have a look at the UR.
As the joint states are streaming from the robot I did not have to rostopic pub on the ros1 side, I just start the UR ros master by the [ur10 bring up](
https://github.com/ros-industrial/universal_robot) launch file and echo the joint states on ros 1 side to check the readings.
On the ros2 side, I start the bridge and do `ros2 topic echo`.
I am just using this simple startup script in ur10 ros wiki page. Nothing else on the UR side. I have already provided the link to my ros2 side code.
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