I keep getting this NO_PUBKEY error again and again whenever I use the command sudo apt update

I have this error message.

W: An error occurred during the signature verification. The repository is not updated and the previous index files will be used. GPG error: http://packages.osrfoundation.org/gazebo/ubuntu-stable jammy InRelease: The following signatures couldn't be verified because the public key is not available:  NO_PUBKEY 67170598AF249743  W: Failed to fetch http://packages.osrfoundation.org/gazebo/ubuntu-stable/dists/jammy/InRelease  The following signatures couldn't be verified because the public key is not available:  NO_PUBKEY 67170598AF249743

It's about a key (NO_PUBKEY). How do Ifind the keys and how do I update the key in the terminal?