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 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.