Without digging in too much, my guess is that rviz is launched after the bridge and the bridge doesn't support latching (or transient local durability for ROS 2), see:
https://github.com/ros2/navigation/issues/3#issuecomment-286284274
The right fix is to support latching in the `ros1_bridge`, but there was some discussion on how to best support that and it was never resolved.
The other option would be to modift tf2 in ROS 2 to publish `/tf_static` periodically.
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