CI failing (ROS build): The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654

[matlabbe]

  Err:8 http://packages.ros.org/ros2/ubuntu noble InRelease
    The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfoundation.org>
  Reading package lists...
  W: http://packages.ros.org/ros2/ubuntu/dists/noble/InRelease: Key is stored in legacy trusted.gpg keyring (/etc/apt/trusted.gpg), see the DEPRECATION section in apt-key(8) for details.
  W: GPG error: http://packages.ros.org/ros2/ubuntu noble InRelease: The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfoundation.org>
  E: The repository 'http://packages.ros.org/ros2/ubuntu noble InRelease' is not signed.

Related to ros/rosdistro#46260

[matlabbe]

The local workaround seems to do:

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

as stated in this post: https://discourse.ros.org/t/ros-gpg-key-expiration-incident/20669

The apt update is done in part of CI action "Run ros-tooling/setup-ros@v0.7" (https://github.com/ros-tooling/setup-ros). I'll try to do that command before calling setup-ros...

[matlabbe]

See https://discourse.ros.org/t/ros-signing-key-migration-guide/43937/23

The workaround is to manually install ros2 keys before calling "setup-ros@v0.7":

    steps:   
    - name: Setup ROS2
      # https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
      run: |
        sudo apt install software-properties-common
        sudo add-apt-repository universe
        sudo apt update && sudo apt install curl -y
        export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
        curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb"
        sudo apt install /tmp/ros2-apt-source.deb
        sudo apt update
    - uses: ros-tooling/setup-ros@v0.7
    [...]

For ROS1:

RUN rm /etc/apt/sources.list.d/ros1-latest.list \
  && rm /usr/share/keyrings/ros1-latest-archive-keyring.gpg

RUN apt-get update \
  && apt-get install -y ca-certificates curl

RUN export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}') ;\
    curl -L -s -o /tmp/ros-apt-source.deb "[https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros-apt-source_${ROS_APT_SOURCE_VERSION}.$(](https://github.com/ros-infrastructure/ros-apt-source/releases/download/$%7BROS_APT_SOURCE_VERSION%7D/ros-apt-source_$%7BROS_APT_SOURCE_VERSION%7D.$(). /etc/os-release && echo $VERSION_CODENAME)_all.deb" \
    && apt-get update \
    && apt-get install /tmp/ros-apt-source.deb \
    && rm -f /tmp/ros-apt-source.deb

[matlabbe]

A better fix would be to migrate the base docker images to https://discourse.ros.org/t/ros-signing-key-migration-guide/43937

[matlabbe]

That will be fixed upstream for docker CI: docker-library/official-images#19162

[matlabbe]

Another issue happened, while the workaround described above works to fix apt for ros1 and ros2, we cannot use anymore rosdep to install dependencies on ros noetic (Skip end-of-life distro "noetic"):

$ apt-get update && rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Skip end-of-life distro "dashing"
Skip end-of-life distro "eloquent"
Skip end-of-life distro "foxy"
Skip end-of-life distro "galactic"
Skip end-of-life distro "groovy"
Add distro "humble"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "iron"
Skip end-of-life distro "jade"
Add distro "jazzy"
Add distro "kilted"
Skip end-of-life distro "kinetic"
Skip end-of-life distro "lunar"
Skip end-of-life distro "melodic"
Skip end-of-life distro "noetic"
Add distro "rolling"
updated cache in /root/.ros/rosdep/sources.cache

$ apt-get update && rosdep install -i --from-paths src --ignore-src -r -y
Hit:1 http://packages.ros.org/ros/ubuntu focal InRelease
Hit:2 http://archive.ubuntu.com/ubuntu focal InRelease
Hit:3 http://security.ubuntu.com/ubuntu focal-security InRelease
Hit:4 http://archive.ubuntu.com/ubuntu focal-updates InRelease
Hit:5 http://archive.ubuntu.com/ubuntu focal-backports InRelease
Reading package lists...
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
rtabmap_ros: Cannot locate rosdep definition for [ament_cmake]
rtabmap_demos: Cannot locate rosdep definition for [nav2_bringup]
rtabmap_sync: Cannot locate rosdep definition for [diagnostic_updater]
rtabmap_util: Cannot locate rosdep definition for [grid_map_ros]
rtabmap_slam: Cannot locate rosdep definition for [tf2_ros]
rtabmap_examples: Cannot locate rosdep definition for [velodyne]
rtabmap_odom: Cannot locate rosdep definition for [rclcpp_components]
rtabmap_viz: Cannot locate rosdep definition for [tf2]
rtabmap_msgs: Cannot locate rosdep definition for [builtin_interfaces]
rtabmap_launch: Cannot locate rosdep definition for [ament_cmake]
rtabmap_rviz_plugins: Cannot locate rosdep definition for [tf2]
rtabmap_conversions: Cannot locate rosdep definition for [tf2_geometry_msgs]
rtabmap_python: Cannot locate rosdep definition for [ament_pep257]
rtabmap: Cannot locate rosdep definition for [qt_gui_cpp]
Continuing to install resolvable dependencies...
#All required rosdeps installed successfully

All ros dependencies should be explicitly installed.

EDIT: Another way, call rosdep update --include-eol-distros to fetch EOL distros.