feat(typescript-estree): support type annotations on catch clauses

[bradzacher]

reference #2260

Split these changes out of #2202 to better focus the PR

[typescript-eslint]

Thanks for the PR, @bradzacher!

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The core maintainers work on this in their personal time, so please understand that it may not be possible for them to review your work immediately.

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[codecov]

Codecov Report

Merging #2306 into master will increase coverage by 0.00%.
The diff coverage is 100.00%.

@@           Coverage Diff           @@
##           master    #2306   +/-   ##
=======================================
  Coverage   93.11%   93.11%           
=======================================
  Files         283      283           
  Lines        9058     9061    +3     
  Branches     2482     2483    +1     
=======================================
+ Hits         8434     8437    +3     
  Misses        301      301           
  Partials      323      323           

Flag	Coverage Δ
#unittest	93.11% <100.00%> (+<0.01%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
...escript-estree/src/semantic-or-syntactic-errors.ts	87.50% <ø> (ø)
packages/typescript-estree/src/convert.ts	98.62% <100.00%> (+<0.01%)	⬆️