ROS 2 Humble (Ubuntu Jammy)安装配置

官方链接Ubuntu (Debian packages) — ROS 2 Documentation: Humble documentation

问题1.更新源时报没有公钥的错误

sudo apt update

Hit:1 https://mirrors.ustc.edu.cn/ubuntu jammy InRelease

Hit:2 https://mirrors.ustc.edu.cn/ubuntu jammy-updates InRelease

Hit:3 https://mirrors.ustc.edu.cn/ubuntu jammy-backports InRelease

Hit:4 https://mirrors.ustc.edu.cn/ubuntu jammy-security InRelease

Hit:5 https://mirrors.ustc.edu.cn/ubuntu jammy-proposed InRelease

Get:6 http://packages.ros.org/ros2/ubuntu jammy InRelease [4,682 B]

Err:6 http://packages.ros.org/ros2/ubuntu jammy InRelease

  The following signatures couldn't be verified because the public key is not available: NO_PUBKEY F42ED6FBAB17C654

Reading package lists... Done

W: GPG error: http://packages.ros.org/ros2/ubuntu jammy InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY F42ED6FBAB17C654

E: The repository 'http://packages.ros.org/ros2/ubuntu jammy 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.

原因：添加ROS 2 GPG key 失败了，https://raw.githubusercontent.com/ros/rosdistro/master/ros.key这个文件墙内获取不了，所以正确方法是不要学ROS了，获取这个key是高风险行为，Over