GitHub permission denied for rtk files

I get this when trying to git these files

git clone git@github.com:emlid/ardupilot.git

git clone git@github.com:emlid/RTKLIB.git
from RTK and Navio in an attempt to run rtkrcv and APM with Navio+

pi@navio-rpi ~ $ git clone git@github.com:emlid/ardupilot.git
Cloning into ‘ardupilot’…
The authenticity of host ‘github.com (192.30.252.130)’ can’t be established.
RSA key fingerprint is 16:27:ac:a5:76:28:2d:36:63:1b:56:4d:eb:df:a6:48.
Are you sure you want to continue connecting (yes/no)? yes
Warning: Permanently added ‘github.com,192.30.252.130’ (RSA) to the list of known hosts.
Permission denied (publickey).
fatal: The remote end hung up unexpectedly
pi@navio-rpi ~ $ git clone git@github.com:emlid/RTKLIB.git
Cloning into ‘RTKLIB’…
Warning: Permanently added the RSA host key for IP address ‘192.30.252.129’ to the list of known hosts.
Permission denied (publickey).
fatal: The remote end hung up unexpectedly

I had just successfully got the .deb package from github and all of this was done over ssh so I believe the connection on my end is good.

I thuoght I needed to setup git in this linux.
Solution here: https://help.github.com/articles/set-up-git/

But that hasn’t worked either? I thought git was already in this version of rasbian?

Did you try to clone over https?

git clone https://github.com/emlid/ardupilot.git