Add TryCatch control node

[kronk-bot]

BehaviorTree.CPP 4.7 in the PickNik fork predates upstream's TryCatch control node, so MoveIt Pro Objectives cannot use the built-in recovery pattern without a custom node.

This ports the upstream implementation and follow-up fixes. Children before the final child execute as the try sequence; a failure runs the final catch child, then returns FAILURE regardless of the catch result. catch_on_halt="true" also invokes best-effort cleanup when a running try branch is halted. XML validation rejects trees with fewer than two children.

Upstream sources:

• BehaviorTree/BehaviorTree.CPP@b8f2715
• BehaviorTree/BehaviorTree.CPP@a557f3c
• BehaviorTree/BehaviorTree.CPP@a3ce94f
• BehaviorTree/BehaviorTree.CPP@309fb03

Verification:

• pre-commit run -a
• cmake --build /tmp/btcpp-20169-green --parallel 4 --target behaviortree_cpp_test
• ctest --test-dir /tmp/btcpp-20169-green --output-on-failure (1/1 passed)

After merge, apt_build_farm must point behaviortree_cpp at the new commit before MoveIt Pro can consume the package.

Closes PickNikRobotics/moveit_pro#20169

[kronk-bot]

@coderabbitai full review

[kronk-bot]

@coderabbitai review