[groovy] How do I get the output of a shell command executed using into a variable from Jenkinsfile (groovy)?

quick answer is this:

sh "ls -l > commandResult"
result = readFile('commandResult').trim()

I think there exist a feature request to be able to get the result of sh step, but as far as I know, currently there is no other option.

EDIT: JENKINS-26133

EDIT2: Not quite sure since what version, but sh/bat steps now can return the std output, simply:

def output = sh returnStdout: true, script: 'ls -l'