Why this path exists: most people who think they can't read poetry were taught to treat a poem as a riddle with a hidden message to decode. That method makes poetry miserable and is why adults quit. A poem is not a locked box — it is a made thing to be looked at slowly, the way you'd look at a painting.
You already know how to do that. That instinct is the whole bridge.
The order
Learn the craft of reading first → start with living poets in your own idiom → then read backwards into the canon, where the older work stops feeling foreign.
Nearly all of it is free
Everything before ~1930 is public domain. Poetry Foundation and Poets.org host authoritative texts of most of the rest, legally and free.
The law of this path: read it aloud, twice. A poem is a score, not a document — it was built for the mouth and the ear, and silent reading strips out half of what it does. Second law: a poem you don't "get" is not a failed test. Sit with it, move on, come back in a year. The poem will wait. Third: one poem read four times beats twenty poems read once.