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I see at least 2 issues, on ROS setting and Ubuntu setting.

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

That apt-key might be old. Google brings me to this page http://wiki.ros.org/indigo/Installation/Sources, which is an end-of-life version of ROS.

Err:5 http://old-releases.ubuntu.com/ubuntu focal Release 404 Not Found [IP: 91.189.88.153 80]

That's happening with ubuntu.com. You should check your Ubuntu setting.

I see at least 3 issues, 2 issues, on in ROS setting and 1 in Ubuntu setting.

For ROS,

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

That apt-key might be old. Google brings me to this page http://wiki.ros.org/indigo/Installation/Sources, which is an end-of-life version of ROS.

E: The repository 'http://packages.ros.org/ros/ubuntu $ Release' does not have a Release file. N: Updating from such a repository can't be done securely, and is therefore disabled by default.

"$" looks strange to me. Isn't that usually supposed to be a Ubuntu distro, e.g. focal? Just as an example on my Ubuntu 20.04 I have:

$ cat /etc/apt/sources.list.d/ros-latest.list
deb http://packages.ros.org/ros/ubuntu focal main

Err:5 http://old-releases.ubuntu.com/ubuntu focal Release 404 Not Found [IP: 91.189.88.153 80]

That's happening with ubuntu.com. You should check your Ubuntu setting.

I see at least 3 issues, 2 in ROS setting and 1 in Ubuntu setting.

For ROS,

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

That apt-key might be old. Google with that key brings me to this page http://wiki.ros.org/indigo/Installation/Sources, which is an end-of-life version of ROS.

E: The repository 'http://packages.ros.org/ros/ubuntu $ Release' does not have a Release file. N: Updating from such a repository can't be done securely, and is therefore disabled by default.

"$" looks strange to me. Isn't that usually supposed to be a Ubuntu distro, e.g. focal? Just as an example on my Ubuntu 20.04 I have:

$ cat /etc/apt/sources.list.d/ros-latest.list
deb http://packages.ros.org/ros/ubuntu focal main

Err:5 http://old-releases.ubuntu.com/ubuntu focal Release 404 Not Found [IP: 91.189.88.153 80]

That's happening with ubuntu.com. You should check your Ubuntu setting. Are you sure you want to reference to old-releases.ubuntu.com? Maybe related askubuntu.com#q1231823/.