I think something like this should do the job:
$meta_query = array(
array(
'key' => 'foo',
'compare' => 'EXISTS',
),
);
$args = array(
'meta_query' => $meta_query
);
$query = new WP_Query( $args );
if ( $query->have_posts() ) {
while ( $query->have_posts() ) {
$query->the_post();
$post_id = get_the_ID();
}
} else {
// no posts found
}
wp_reset_postdata();
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