I tried to code sign an iOS application, These are the steps that i followed
security create-keychain -p password ${KEYCHAIN}
security set-keychain-s
@madhu I have been trying to fix the same issue and found that Access Control for the key associated with the certificate in question was set to "Confirm before allowing access" which didn't work in Jenkins. I modified it (thru Keychain Access gui - Get Info, Access Control) to "Allow all applications to access this item" and my build was successful.