Update ici config with host-mounted urcap storage and test upload

This is a requirement for running URCap-based tests in the ROS driver.

Author: urfeex

.github/workflows/industrial-ci.yml

@@ -32,11 +32,28 @@ jobs:
           - main
           - testing
     env:
-      DOCKER_RUN_OPTS: '-v /var/run/docker.sock:/var/run/docker.sock --network ursim_net'
+      # /tmp/ur_test_artifacts: collection point for test artifacts (e.g. VNC
+      #     snapshots) written from inside the ICI container.
+      # /tmp/ursim_urcaps: shared storage for the External Control URCap.
+      #     Mounted at the same path in the ICI container AND used as the bind
+      #     source for the URSim container that start_ursim.sh launches via the
+      #     host docker daemon, so the URCap downloaded inside the ICI container
+      #     is actually visible to URSim's /urcaps mount.
+      # Both paths are kept outside ${{ github.workspace }} so they do not
+      # collide with industrial_ci's read-only bind-mount of TARGET_REPO_PATH.
+      DOCKER_RUN_OPTS: '-v /var/run/docker.sock:/var/run/docker.sock -v /tmp/ur_test_artifacts:/test_artifacts -v /tmp/ursim_urcaps:/tmp/ursim_urcaps -e UR_TEST_ARTIFACTS_DIR=/test_artifacts -e UR_CI_URCAP_FOLDER=/tmp/ursim_urcaps --network ursim_net --ip 192.168.56.1'
     steps:
       - uses: actions/checkout@v7
       - run: docker network create --subnet=192.168.56.0/24 ursim_net
         if: ${{ !env.ACT }}
+      - name: Create shared host directories
+        run: |
+          mkdir -p /tmp/ur_test_artifacts /tmp/ursim_urcaps
+          # Allow the container (running as root) to write here while keeping
+          # the directory readable by the runner user for upload-artifact, and
+          # writable by the host docker daemon when it bind-mounts /tmp/ursim_urcaps
+          # into the URSim container.
+          chmod 777 /tmp/ur_test_artifacts /tmp/ursim_urcaps
       - uses: 'ros-industrial/industrial_ci@master'
         env:
           IMMEDIATE_TEST_OUTPUT: true
@@ -47,3 +64,8 @@ jobs:
           ROS_REPO: ${{matrix.ROS_REPO}}
           CLANG_TIDY: ${{matrix.ROS_DISTRO.CLANG_TIDY}}
           OS_CODE_NAME: ${{matrix.ROS_DISTRO.OS_CODE_NAME}}
+      - name: Upload test artifacts
+        uses: actions/upload-artifact@v7
+        with:
+          name: ur_test_artifacts-${{matrix.ROS_DISTRO.NAME}}-${{matrix.ROS_REPO}}
+          path: /tmp/ur_test_artifacts