Revert "remove executive_smach for groovy"

This reverts commit 7bec3df5d71ed6e4dd1f5457e1798437b4e1f22b.
Revert "Trimmed the branch to only the roseus_smach sub directory"

This reverts commit 81d26fb9eb1b51eac06a7e3f5bc8c8f183ebc5b8.
Rebase from 'upstream'
Trimmed the branch to only the roseus_smach sub directory
remove executive_smach for groovy