ubuntu 18.04 sudo apt-get update GPG error

idriver@idriver:/var/lib/apt$ sudo apt-get update
Hit:1 http://mirrors.aliyun.com/ubuntu bionic InRelease
Get:2 http://mirrors.ustc.edu.cn/ros/ubuntu bionic InRelease [4,680 B]
Err:2 http://mirrors.ustc.edu.cn/ros/ubuntu bionic InRelease                       
  The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfoundation.org>
Hit:3 https://mirrors.ustc.edu.cn/ubuntu bionic InRelease                          
Hit:4 https://mirrors.ustc.edu.cn/ubuntu bionic-updates InRelease
Hit:5 https://mirrors.ustc.edu.cn/ubuntu bionic-backports InRelease
Hit:6 https://mirrors.ustc.edu.cn/ubuntu bionic-security InRelease
Hit:7 https://mirrors.ustc.edu.cn/ubuntu bionic-proposed InRelease
Reading package lists... Done
W: GPG error: http://mirrors.ustc.edu.cn/ros/ubuntu bionic InRelease: The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfoundation.org>
E: The repository 'http://mirrors.ustc.edu.cn/ros/ubuntu bionic InRelease' is not signed.
N: Updating from such a repository can't be done securely, and is therefore disabled by default.
N: See apt-secure(8) manpage for repository creation and user configuration details.

For ROS1 users:

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