Revert "remove executive_smach for groovy"

This reverts commit d6bdeb7be9304f31b9d6c49cb6238cff9f4e1314.
Revert "Trimmed the branch to only the roseus_smach sub directory"

This reverts commit 903ec64cacef5bec86035bb4a96f7008965be44e.
Rebase from 'upstream' (no changes)
Trimmed the branch to only the roseus_smach sub directory
remove executive_smach for groovy