Revert "remove executive_smach for groovy"

This reverts commit f8817ee550c837492a9de5894f1aaf18c7a65442.
Revert "Trimmed the branch to only the roseus_smach sub directory"

This reverts commit be18477f38f5703eb9caa01d1a4b959515a79aa0.
Rebase from 'upstream'
Trimmed the branch to only the roseus_smach sub directory
remove executive_smach for groovy