Hello @bd16 ,
Don’t worry about the gazebo errors/warning, they are expected and don’t affect the simulation.
As for the bridge comments, that’s the expected behavior. The topic won’t be shown in ROS2 until a specific connection is made to the topic (ie., you create a ROS2 Subscriber that subscribes to the ROS1 topic). This is done for optimizing resources. If you want to see all the topics always, you need to run the bridge like this:
ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
Hope this helps,