刚尝试了新的Ubuntu22.04 3.2.3系统镜像，目前是解决了系统无法启动的问题，不过也发现了一些新的问题
注意：出问题的镜像位于https://archive.d-robotics.cc/downloads/os_images/rdk_x5/rdk_os_3.2.3-2025-6-4/
一、ROS2 KEY过期了，可按照下面的方式重新设置下
ROS的密钥一般有效期为2年，所需过期后会有下面的提示信息。
root@ubuntu:~# sudo apt update
Hit:1 http://archive.d-robotics.cc/ubuntu-rdk-x5 jammy InRelease
Get:2 http://mirrors4.tuna.tsinghua.edu.cn/ubuntu-ports jammy InRelease [270 kB]
Get:3 http://mirrors4.tuna.tsinghua.edu.cn/ubuntu-ports jammy-security InRelease [129 kB]
Get:4 http://mirrors4.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates InRelease [128 kB]
Get:5 http://mirrors4.tuna.tsinghua.edu.cn/ubuntu-ports jammy-backports InRelease [127 kB]
Get:6 http://mirrors4.tuna.tsinghua.edu.cn/ros2/ubuntu jammy InRelease [4,682 B]
Err:6 http://mirrors4.tuna.tsinghua.edu.cn/ros2/ubuntu jammy InRelease
The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfoundation.org>
Reading package lists... Done
W: GPG error: http://mirrors4.tuna.tsinghua.edu.cn/ros2/ubuntu jammy InRelease: The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfoundation.org>
E: The repository 'http://mirrors4.tuna.tsinghua.edu.cn/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.
修复方式如下：
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key | sudo gpg --dearmor -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://mirrors4.tuna.tsinghua.edu.cn/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update
二、屏蔽Ubuntu Pro的提示信息
每次update或者安装软件的时候都会出现一堆Ubuntu Pro的提示信息。
root@ubuntu:~# sudo apt update && sudo apt upgrade
Hit:1 http://archive.d-robotics.cc/ubuntu-rdk-x5 jammy InRelease
Get:2 http://mirrors4.tuna.tsinghua.edu.cn/ubuntu-ports jammy InRelease [270 kB]
Get:3 http://mirrors4.tuna.tsinghua.edu.cn/ubuntu-ports jammy-security InRelease [129 kB]
Get:4 http://mirrors4.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates InRelease [128 kB]
Get:5 http://mirrors4.tuna.tsinghua.edu.cn/ubuntu-ports jammy-backports InRelease [127 kB]
Hit:6 http://mirrors4.tuna.tsinghua.edu.cn/ros2/ubuntu jammy InRelease
Fetched 654 kB in 2s (334 kB/s)
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
8 packages can be upgraded. Run 'apt list --upgradable' to see them.
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
Calculating upgrade... Done
Get more security updates through Ubuntu Pro with 'esm-apps' enabled:
vlc-plugin-qt libpcl-stereo1.12 libvlc5 libopencv4.5d-jni exo-utils
libopencv-videoio4.5d libzvbi-common liburiparser1 libde265-dev
libopencv-objdetect4.5d vlc-data libopencv-videoio-dev
libopencv-superres4.5d libopencv-objdetect-dev libopencv-contrib4.5d
libopencv-superres-dev libopencv-contrib-dev libpcl-keypoints1.12
libcjson-dev opencv-data libvlccore9 libheif1 vlc libpcl-common1.12
libopencv-imgcodecs4.5d libpcl-recognition1.12 libpcl-sample-consensus1.12
libopencv-imgcodecs-dev vlc-bin libiperf0 libjs-jquery-ui libpathplan4
libopenexr-dev graphviz libcjson1 libavdevice58 libgvpr2 libgvc6 ffmpeg
libopencv-video4.5d libpcl-people1.12 libpcl-tracking1.12
libopencv-shape4.5d libopencv-video-dev libopencv4.5-java libopenexr25
libopencv-shape-dev libpcl-features1.12 libpostproc55 libpcl-filters1.12
python3-opencv libopencv-highgui4.5d libcgraph6 libopencv-core4.5d
libopencv-stitching4.5d libopencv-highgui-dev libopencv-core-dev
libswscale-dev libopencv-stitching-dev libcdt5 libpcl-surface1.12
libpcl-io1.12 libavcodec58 iperf3 libpcl-visualization1.12 libpcl-ml1.12
libavutil56 libpcl-kdtree1.12 libswscale5 libpcl-search1.12 libheif-dev
libopencv-viz4.5d libexo-2-0 libavutil-dev libopencv-viz-dev
libopencv-features2d4.5d libopencv-dev liblab-gamut1
libopencv-features2d-dev libswresample3 vlc-plugin-video-output
libopencv-dnn4.5d rapidjson-dev libpcl-outofcore1.12 libopencv-dnn-dev
libopencv-ml4.5d libpcl-segmentation1.12 libpcl-apps1.12 libavformat58
libzvbi0 libopencv-ml-dev libopencv-calib3d4.5d libpcl-registration1.12
libopencv-flann4.5d libopencv-calib3d-dev libpmix-dev
libopencv-videostab4.5d libopencv-imgproc4.5d libopencv-flann-dev
libpcl-octree1.12 libpcl-dev libavformat-dev libopencv-videostab-dev
libavcodec-dev libopencv-imgproc-dev libde265-0 libpmix2 libopencv-photo4.5d
libvlc-bin libswresample-dev liburiparser-dev libopencv-photo-dev
vlc-plugin-base libexo-common libavfilter7
Learn more about Ubuntu Pro at https://ubuntu.com/pro
The following packages have been kept back:
cpp-11 g++-11 gcc-11 gcc-11-base libasan6 libgcc-11-dev libstdc++-11-dev libtsan0
0 upgraded, 0 newly installed, 0 to remove and 8 not upgraded.
主要是/etc/apt/apt.conf.d目录多了一个20apt-esm-hook.conf，所以删除或者改名即可。
sudo mv /etc/apt/apt.conf.d/20apt-esm-hook.conf /etc/apt/apt.conf.d/20apt-esm-hook.conf.disabled
sudo rm -rf /var/lib/ubuntu-advantage/messages/*
sudo apt update
希望可以帮助到你。