Revert "remove executive_smach for groovy"

This reverts commit bea51c79382da39b5dc19cfd817534e94ad47a55.
Revert "Trimmed the branch to only the roseus_smach sub directory"

This reverts commit 5fd64c21229aa3f0a2ece7c5ff590088bcfe03a1.
Rebase from 'upstream'
Trimmed the branch to only the roseus_smach sub directory
remove executive_smach for groovy