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 
I think the JBI service engine you are trying to install into Petals ESB is designed to ServiceMix because it expects that the JBI container provides some classes: org.apache.commons.logging.LogFactory.
To be installed into Petals ESB or other JBI container, the ODE JBI component must embed all classes that it needs (except the classes of the JBI API).
Try to add the JAR 'commons-log' to the ODE JBI component archive (without to forget to update its JBI descriptor) before to install it into Petals ESB.