Add optional output to task which produce contact results #1194

	name: Ubuntu

	on:
	push:
	branches:
	- master
	- 'dev**'
	pull_request:
	paths:
	- 'tesseract**'
	- '.github/workflows/ubuntu.yml'
	- '**.repos'
	schedule:
	- cron: '0 5 * * *'
	release:
	types:
	- released

	jobs:
	ci:
	name: ${{ matrix.distro }}
	runs-on: ubuntu-latest
	strategy:
	fail-fast: false
	matrix:
	distro: [focal, jammy, noble]
	container:
	image: ghcr.io/tesseract-robotics/trajopt:${{ matrix.distro }}-0.24
	env:
	CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.distro }}/.ccache"
	DEBIAN_FRONTEND: noninteractive
	TZ: Etc/UTC
	steps:
	- name: Checkout repository
	uses: actions/checkout@v4
	with:
	path: target_ws/src

	- name: Install Depends
	shell: bash
	run: \|
	apt update
	apt upgrade -y
	apt install -y wget libompl-dev
	- name: Install Depends (non-noble)
	if: ${{ matrix.distro != 'noble' }}
	shell: bash
	run: \|
	apt install -y software-properties-common
	add-apt-repository ppa:levi-armstrong/tesseract-robotics
	apt install -y taskflow
	- name: Install Depends (noble)
	if: ${{ matrix.distro == 'noble' }}
	shell: bash
	run: \|
	apt install -y libtaskflow-cpp-dev

	- name: Build and Tests
	uses: tesseract-robotics/colcon-action@v8
	with:
	before-script: source /opt/tesseract/install/setup.bash && source /opt/trajopt/install/setup.bash
	ccache-prefix: ${{ matrix.distro }}
	vcs-file: dependencies.repos
	upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release
	target-path: target_ws/src
	target-args: --cmake-args -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON

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