That's an interesting question.
I'm wondering if Apache ODE wasn't actually meant to be only used with ServiceMix…
In theory all JBI implementations should be able to load a valid JBI component, but in practice it's not so true…
Anyway, the error shown is still maybe a problem coming from Petals (basically it seems that some libraries should have been loaded with the components but wasn't, I will have to test to see if it's really a bug in Petals or a problem in the JBI descriptors from ODE), but even if it's fixed, I wouldn't bet that everything will work out as you want…
Let's see 
Yes, you could add the java transaction api jar to the extensions directory (see https://doc.petalslink.com/display/petalsesb42/Installing+Petals+ESB+using+the+ZIP+archive)