[azcalg]

Looks like most teams that took catching into consideration made their robot like a basket of sorts, like the two posted above. Generally, pool noodles are great at stopping stuff if you're having trouble with the ball bouncing out, so long as they don't get in the way if you're shooting. Another thing to consider is the 50 point penalty for possessing the other team's ball, I'd try to make sure it only catches what you want it to catch.
Either way, catching the ball from over the truss seems like a great way to get a quick 20 points + assist, and will probably make getting the ball to your robot from the human player easier, best of luck!