CUDA GPG causes an error

[kenji-miyake]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

See https://github.com/autowarefoundation/autoware_common/runs/6220775368?check_suite_focus=true#step:6:16

Expected behavior

No error.

Actual behavior

Run sudo apt-get -yqq update
W: GPG error: https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64  InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY A4B469963BF863CC
E: The repository 'https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64  InRelease' is not signed.
Error: Process completed with exit code 100.

Steps to reproduce

Run the workflow.

Versions

No response

Possible causes

• Update the key.
• Remove CUDA from the source list after installation.

Additional context

• https://forums.developer.nvidia.com/t/notice-cuda-linux-repository-key-rotation/212772/1
• https://forums.developer.nvidia.com/t/updating-the-cuda-linux-gpg-repository-key/212897
• https://forums.developer.nvidia.com/t/invalid-public-key-for-cuda-apt-repository/212901
• Public GPG key error NVIDIA/nvidia-container-toolkit#258

[kenji-miyake]

The commands users should run are:

sudo apt-key del 7fa2af80
sudo apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/3bf863cc.pub

https://developer.nvidia.com/cuda-downloads?target_os=Linux&target_arch=x86_64&Distribution=Ubuntu&target_version=20.04&target_type=deb_network

Or,

wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-keyring_1.0-1_all.deb
# wget https://developer.download.nvidia.com/compute/cuda/repos/$distro/$arch/cuda-keyring_1.0-1_all.deb
sudo dpkg -i cuda-keyring_1.0-1_all.deb

https://forums.developer.nvidia.com/t/notice-cuda-linux-repository-key-rotation/212772/1

[kenji-miyake]

CI:

• https://github.com/autowarefoundation/autoware/runs/6238798725?check_suite_focus=true
• https://github.com/autowarefoundation/autoware/runs/6238798979?check_suite_focus=true