Classical robot-programming approaches often require the definition of rigid sequences of elementary motionsand actions by expert robot programmers through coding. Such solutions are suitable for environments that are morestructured and less dynamic with respect to construction ones. We propose a different approach with a novel softwarearchitecture that exploits Building Information Modelling (BIM) data for facilitating robot-programming and deploymentin construction. It includes mission parametrization and customization tools that abstract elementary robot functionalityin terms of behaviors, that can be easily understood, assembled, and adapted on-site by non-expert programmers. We verifythe effectiveness of our proposed approach by considering the execution of a spray-painting use-case for interior walls and ausability study.