apt-key adv fails with `no dirmngr`

[rotu]

Description

apt-key can cause setup to fail.

Expected Behavior

ROS setup succeeds

Actual Behavior

ROS setup fails with the below log.

Invoking "sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654"
  sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
  Warning: apt-key output should not be parsed (stdout is not a terminal)
  Executing: /tmp/apt-key-gpghome.w9Df9769Y0/gpg.1.sh --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
  gpg: connecting dirmngr at '/tmp/apt-key-gpghome.w9Df9769Y0/S.dirmngr' failed: IPC connect call failed
  gpg: keyserver receive failed: No dirmngr
##[error]The process 'sudo' failed with exit code 2

To Reproduce

Not sure how common this is, but I've observed it at least twice:

https://github.com/ros2/rmw_cyclonedds/runs/555651315
https://github.com/ros2/rmw_cyclonedds/runs/565850574

System (please complete the following information)

• OS: Ubuntu Bionic
• ROS 2 Distro: N/A

Additional context

It is probably sufficient to use apt-key add with a local key file instead of apt-key adv.