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