The following signatures were invalid: KEYEXPIRED 162*****54

Error:
W: An error occurred during the signature verification. The repository is not updated and the previous index files will be used. GPG error: http://packages.ros.org/ros/ubuntu xenial InRelease: The following signatures were invalid: KEYEXPIRED 162*****54

W: Failed to fetch http://packages.ros.org/ros/ubuntu/dists/xenial/InRelease The following signatures were invalid: KEYEXPIRED 162*****54

Solution:

$  sudo apt-key list | grep -A 1 expired

pub   4096R/AB***654 2019-05-30 [expired: 2021-05-29]
uid                  Open Robotics <info@osrfoundation.org>

$  sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys AB***654

Executing: /tmp/tmp.z9EH4GTkl8/gpg.1.sh --keyserver
hkp://keyserver.ubuntu.com:80
--recv-keys
AB***654
gpg: requesting key AB17C654 from hkp server keyserver.ubuntu.com
gpg: key AB***654: "Open Robotics <info@osrfoundation.org>" 1 new signature
gpg: Total number processed: 1
gpg:         new signatures: 1