Fix: Misleading error for unrecognized behavior ports

[griswaldbrooks]

Summary

• Use type_ID instead of element->Name() so the error prints the actual behavior name (e.g., ClearSnapshot) rather than the generic XML tag (e.g., Action).
• Use element->GetLineNum() instead of att->GetLineNum() for a more accurate line number.

Fixes PickNikRobotics/moveit_pro#18029

Before:

a port with name [topic_name] is found in the XML (<Action>, line 6) but not in the providedPorts() of its registered node type.

After:

A port with name [topic_name] is found in the XML (ClearSnapshot, line 6) but not in the providedPorts() of its registered node type.

Note on line numbers

Line numbers may not match the original XML file because MoveIt Pro's objective server reformats the XML through tinyxml2::XMLPrinter before passing it to BehaviorTree.CPP (see load_objective_definitions.cpp). The line numbers reported are relative to the reformatted XML, not the original file. Fixing this offset is out of scope for this PR — the behavior name is the more important improvement for debugging.

Test plan

• Build behaviortree_cpp in the MoveIt Pro container
• Reproduce original bug by removing providedPorts() from ClearSnapshot and adding a topic_name port in the objective XML
• Confirm the error now shows the correct behavior name

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