W: Failed to fetch http://mirrors.ustc.edu.cn/ros/ubuntu/dists/xenial/InRelease The following signatures were invalid: KEYEXPIRED 1622248854
E: Failed to fetch http://ppa.launchpad.net/mc3man/trusty-media/ubuntu/dists/xenial/main/binary-amd64/Packages 404 Not Found [IP: 91.189.95.85 80]

$ sudo apt-key list | grep expired
pub 4096R/AB17C654 2019-05-30 [expired: 2021-05-29]
$ sudo apt-key adv --recv-keys --keyserver keys.gnupg.net AB17C654
Executing: /tmp/tmp.DLeVn3u8wm/gpg.1.sh --recv-keys
–keyserver
keys.gnupg.net
AB17C654
gpg: requesting key AB17C654 from hkp server keys.gnupg.net
gpg: key AB17C654: "Open Robotics " 1 new signature
gpg: Total number processed: 1
gpg: new signatures: 1