Revert "remove executive_smach for groovy"

This reverts commit 5444d2309e36aaf605bab1931d2274215c3edbf0.
Revert "Trimmed the branch to only the roseus_smach sub directory"

This reverts commit 50849adc4a472fc9bde2d33263b956ef4afd07ee.
Rebase from 'upstream'
Trimmed the branch to only the roseus_smach sub directory
remove executive_smach for groovy