Revert "remove executive_smach for groovy"

This reverts commit f252f37d7c74facc5ae2d29b123d1d68af8da6fa.
Revert "Trimmed the branch to only the roseus_smach sub directory"

This reverts commit a3df52ab3ad8a830d052355250fa159f125bd2ab.
Rebase from 'upstream'
Trimmed the branch to only the roseus_smach sub directory
remove executive_smach for groovy