The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 的解决方法

最近使用sudo apt update提示以下错误：

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 bionic InRelease: The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics info@osrfoundation.org
W: Failed to fetch http://packages.ros.org/ros/ubuntu/dists/bionic/InRelease The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics info@osrfoundation.org
W: Some index files failed to download. They have been ignored, or old ones used instead.

• 原因
  ROS GPG密钥过期

• 解决方法
  更新ROS apt 仓库使用的公共密钥：

ROS 1用户：

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

ROS 2用户：

sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

• 如果执行以上命令出现gpg: no valid OpenPGP data found.错误，那么需要先执行curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc（卡住不动就是要翻墙，参考Ubuntu下命令行走代理/终端走代理），然后再执行sudo apt-key add ros.asc即可

参考自apt update: signatures were invalid: F42ED6FBAB17C654