Background

I can't install any packages on a functioning TB3 Waffle with an Intel NUC replacing the Raspberry Pi. I ran into this problem while integrating Tensorflow with ROS 2 Foxy using Alsora packages. ROS2 Tensorflow.

$ uname -a
Linux hood 5.4.0-80-generic #90-Ubuntu SMP Fri Jul 9 22:49:44 UTC 2021 x86_64 x86_64 x86_64 GNU/Linux

$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description:    Ubuntu 20.04.2 LTS
Release:    20.04
Codename:   focal

$ echo $ROS_DISTRO
foxy

Problem Log

What follows are the results of an install and update:

$ sudo apt install ros-foxy-vision-msgs
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following NEW packages will be installed:
  ros-foxy-vision-msgs
0 upgraded, 1 newly installed, 0 to remove and 544 not upgraded.
Need to get 365 kB of archives.
After this operation, 4,493 kB of additional disk space will be used.
Err:1 http://packages.ros.org/ros2/ubuntu focal/main amd64 ros-foxy-vision-msgs amd64 2.0.0-1focal.20210423.013808404  Not Found [IP: 64.50.233.100 80]
E: Failed to fetch http://packages.ros.org/ros2/ubuntu/pool/main/r/ros-foxy-vision-msgs/ros-foxy-vision-msgs_2.0.0-1focal.20210423.013808_amd64.deb  404  Not Found [IP: 64.50.233.100 80]
E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?

---

$ sudo apt-get update
Get:1 http://dl.google.com/linux/chrome/deb stable InRelease [1,811 B]
Hit:2 https://download.docker.com/linux/ubuntu focal InRelease                 
Get:3 http://security.ubuntu.com/ubuntu focal-security InRelease [114 kB]      
Get:4 http://dl.google.com/linux/chrome/deb stable/main amd64 Packages [1,101 B]
Get:5 http://packages.ros.org/ros2/ubuntu focal InRelease [4,670 B]            
Hit:6 http://us.archive.ubuntu.com/ubuntu focal InRelease                      
Err:5 http://packages.ros.org/ros2/ubuntu focal InRelease                      
  The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfoundation.org>
Get:7 http://us.archive.ubuntu.com/ubuntu focal-updates InRelease [114 kB]     
Hit:8 http://ppa.launchpad.net/otto-kesselgulasch/gimp/ubuntu focal InRelease  
Hit:9 https://librealsense.intel.com/Debian/apt-repo focal InRelease           
Get:10 http://us.archive.ubuntu.com/ubuntu focal-backports InRelease [101 kB]
Get:11 http://security.ubuntu.com/ubuntu focal-security/main amd64 Packages [793 kB]
Get:12 http://us.archive.ubuntu.com/ubuntu focal-updates/main amd64 Packages [1,134 kB]
Get:13 http://security.ubuntu.com/ubuntu focal-security/main amd64 DEP-11 Metadata [27.7 kB]
Get:14 http://security.ubuntu.com/ubuntu focal-security/main amd64 c-n-f Metadata [8,424 B]
Get:15 http://security.ubuntu.com/ubuntu focal-security/universe amd64 Packages [636 kB]
Get:16 http://security.ubuntu.com/ubuntu focal-security/universe amd64 DEP-11 Metadata [61.1 kB]
Get:17 http://security.ubuntu.com/ubuntu focal-security/universe amd64 c-n-f Metadata [12.1 kB]
Get:18 http://security.ubuntu.com/ubuntu focal-security/multiverse amd64 DEP-11 Metadata [2,464 B]
Get:19 http://us.archive.ubuntu.com/ubuntu focal-updates/main i386 Packages [517 kB]
Get:20 http://us.archive.ubuntu.com/ubuntu focal-updates/main amd64 DEP-11 Metadata [282 kB]
Get:21 http://us.archive.ubuntu.com/ubuntu focal-updates/main amd64 c-n-f Metadata [13.9 kB]
Get:22 http://us.archive.ubuntu.com/ubuntu focal-updates/universe amd64 Packages [844 kB]
Get:23 http://us.archive.ubuntu.com/ubuntu focal-updates/universe i386 Packages [626 kB]
Get:24 http://us.archive.ubuntu.com/ubuntu focal-updates/universe amd64 DEP-11 Metadata [338 kB]
Get:25 http://us.archive.ubuntu.com/ubuntu focal-updates/universe DEP-11 48x48 Icons [212 kB]
Get:26 http://us.archive.ubuntu.com/ubuntu focal-updates/universe amd64 c-n-f Metadata [18.4 kB]
Get:27 http://us.archive.ubuntu.com/ubuntu focal-updates/multiverse amd64 DEP-11 Metadata [940 B]
Get:28 http://us.archive.ubuntu.com/ubuntu focal-backports/universe amd64 DEP-11 Metadata [10.3 kB]
Fetched 5,874 kB in 2s (2,756 kB/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/ros2/ubuntu focal InRelease: The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfoundation.org>
W: Failed to fetch http://packages.ros.org/ros2/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.

Clearly, there are fundamental ideas I haven't mastered. There are some clear clues but I can't follow them. I hope some of the following tests provide addition hints.

Additional Observation

OBSERVATION 1

When I go to the vision-msgs repository this is what I find.

[ ] ros-foxy-vision-msgs-dbgsym_2.0.0-1focal.20210630.234042_amd64.deb  2021-06-30 23:47    7.4M     
[ ] ros-foxy-vision-msgs-dbgsym_2.0.0-1focal.20210701.085224_arm64.deb  2021-07-01 08:59    1.3M     
[ ] ros-foxy-vision-msgs_2.0.0-1focal.20210630.234042_amd64.deb 2021-06-30 23:47    357K     
[ ] ros-foxy-vision-msgs_2.0.0-1focal.20210701.085224_arm64.deb 2021-07-01 08:59    94K  
[ ] ros-foxy-vision-msgs_2.0.0-1focal.debian.tar.xz 2020-08-11 03:18    2.5K     
[TXT]   ros-foxy-vision-msgs_2.0.0-1focal.dsc   2020-08-11 03:18    1.3K     
[ ] ros-foxy-vision-msgs_2.0.0.orig.tar.gz  2020-08-11 03:18    11K  

The install is looking for a package that ends in 013808_amd64.deb. None of these match. I don't understand why.

OBSERVATION 2

This link implies that there may be a repository sync issue that corrects itself with time. It's been three days which is more than enough time to sync the repositories. ROS2 Testing

OBSERVATION 3

I followed Kat's instructions and got a new key into keyrings. The ROS key expired

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

$ ls -tl /usr/share/keyrings
total 44
-rw-r--r-- 1 root root 1167 Aug 11 22:58 ros-archive-keyring.gpg
-rw-r--r-- 1 root root 2760 Jul 12 18:41 docker-archive-keyring.gpg
-rw-r--r-- 1 root root 2236 Mar 30  2020 ubuntu-advantage-esm-apps.gpg
-rw-r--r-- 1 root root 2264 Mar 30  2020 ubuntu-advantage-esm-infra-trusty.gpg
-rw-r--r-- 1 root root 7399 Sep 17  2018 ubuntu-archive-keyring.gpg
-rw-r--r-- 1 root root 4097 Feb  6  2018 ubuntu-cloudimage-keyring.gpg
-rw-r--r-- 1 root root    0 Jan 17  2018 ubuntu-cloudimage-removed-keys.gpg
-rw-r--r-- 1 root root 6713 Oct 27  2016 ubuntu-archive-removed-keys.gpg
-rw-r--r-- 1 root root 1227 May 27  2010 ubuntu-master-keyring.gpg

This didn't work.

OBSERVATION 4

I wonder if I messed things up attempting to resolve a problem with gimp a week ago.

 $ sudo apt-get autoremove gimp gimp-plugin-registry

 $ sudo add-apt-repository ppa:otto-kesselgulasch/gimp

Question

Can I leverage the above to help focus in on the problem of not being able to install software? I will gladly provide any additional test results. Feel free to point out any knowledge gaps that will help me understand what went wrong.

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

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