Revert "remove executive_smach for groovy"

This reverts commit c193aff82980054e95bbba8e6ac32ea9571f20c9.
Revert "Trimmed the branch to only the roseus_smach sub directory"

This reverts commit 83f745159886cbd94180c8078bbc8ab1199e5c37.
Rebase from 'upstream' (no changes)
Trimmed the branch to only the roseus_smach sub directory
remove executive_smach for groovy