解决ros功能包仓库出现签名验证错误的问题（An error occurred during the signature verification）

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本文介绍在Ubuntu系统中遇到ROS包安装时GPG签名验证错误的问题，涉及更新源并添加新的ROS密钥。通过curl获取并安装证书，修复apt-get update报错，确保软件包来源的安全性。

是什么问题？

当我们进行ros相关的功能包的安装的时候或者在有安装ros的linux系统上进行sudo apt-get update的操作的时候，就会出现以下报错：

Get:1 http://packages.ros.org/ros/ubuntu focal InRelease [4,676 B]
Hit:2 http://ports.ubuntu.com/ubuntu-ports focal InRelease
Hit:3 http://ports.ubuntu.com/ubuntu-ports focal-updates InRelease
Hit:4 http://ports.ubuntu.com/ubuntu-ports focal-backports InRelease
Err:1 http://packages.ros.org/ros/ubuntu focal InRelease
The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics info@osrfoundation.org
Hit:5 http://ports.ubuntu.com/ubuntu-ports focal-security InRelease
Fetched 4,676 B in 4s (1,078 B/s)
Reading package lists… Done
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 focal InRelease: The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics info@osrfoundation.org
W: Failed to fetch http://packages.ros.org/ros/ubuntu/dists/focal/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.

为什么出现这个报错

ROS使用debian包管理系统来分发软件，因此就需要一个GPG密钥来确保功能包的准确性和权威性，通常来说，默认的密钥大概在使用2年之后会过期，因此我们需要从新添加ros相关的密钥上去。

如何解决

下载证书并添加。

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

安装成功后，会显示OK的log信息。

$ sudo apt update
...
 Get:15 http://packages.ros.org/ros/ubuntu focal InRelease [4,676 B] 
...
 Fetched 2,671 kB in 2s (1,607 kB/s)                     
 Reading package lists… Done
 Building dependency tree       
 Reading state information… Done
 30 packages can be upgraded. Run 'apt list --upgradable' to see them.