sudo apt update命令之后W: 校验数字签名时出错。此仓库未被更新，所以仍然使用此前的索引文件。GPG 错误：http://robotpkg.openrobots.org/packages

yan@RO:/etc/apt/sources.list.d$ sudo apt update
获取:1 http://security.ubuntu.com/ubuntu focal-security InRelease [114 kB]                                                                                                        
命中:2 http://packages.ros.org/ros/ubuntu focal InRelease                                                                                                                         
命中:3 http://ppa.launchpad.net/git-core/ppa/ubuntu focal InRelease                                                                                                               
命中:4 http://cn.archive.ubuntu.com/ubuntu focal InRelease                                                                                                     
命中:5 http://cn.archive.ubuntu.com/ubuntu focal-updates InRelease                                                                        
命中:6 https://deb.nodesource.com/node_16.x focal InRelease                                                                               
获取:7 http://cn.archive.ubuntu.com/ubuntu focal-backports InRelease [108 kB]                    
忽略:8 http://robotpkg.openrobots.org/packages/debian/pub focal InRelease               
命中:9 http://robotpkg.openrobots.org/packages/debian/pub focal Release                 
错误:10 http://robotpkg.openrobots.org/packages/debian/pub focal Release.gpg
  由于没有公钥，无法验证下列签名： NO_PUBKEY ADD535E05E56C3FD
已下载 222 kB，耗时 3秒 (69.3 kB/s)                                
正在读取软件包列表... 完成
正在分析软件包的依赖关系树       
正在读取状态信息... 完成       
所有软件包均为最新。
W: 校验数字签名时出错。此仓库未被更新，所以仍然使用此前的索引文件。GPG 错误：http://robotpkg.openrobots.org/packages/debian/pub focal Release: 由于没有公钥，无法验证下列签名： NO_PUBKEY ADD535E05E56C3FD
W: 无法下载 http://robotpkg.openrobots.org/packages/debian/pub/dists/focal/Release.gpg  由于没有公钥，无法验证下列签名： NO_PUBKEY ADD535E05E56C3FD

如上的报错，在百度，csdn等搜索好久，一般的解决的方法是

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 23E7166788B63E1E

试了之后依然不行，之后还是在gogle搜索pinocchio installation之后进入网址https://stack-of-tasks.github.io/pinocchio/download.html按照

 echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" \
     | sudo tee /etc/apt/sources.list.d/robotpkg.list

 这个步骤将密钥

-----BEGIN PGP PUBLIC KEY BLOCK-----
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=/psP
-----END PGP PUBLIC KEY BLOCK-----

添加到

/etc/apt/sources.list.d/robotpkg.list

 (改完之后文件会变为/etc/apt/kryrings/robotpkg.asc)

 中，保存后再

sudo apt update

 就可以了