specifying plan and executive

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Hello,

I need to send a plan (list of tasks) from the planner to the executive, which will be different ROS nodes. Which is the preferred way in ROS for doing that? I am thinking about some kind of XML-based language.

And then the second part of the question is in the executive. How is usually done the mapping between the actions specified in the plan, and the actual commands (actionlib, services) that can be sent to the robot? Will this done manually, or there is a better proper way of doing it?

Something like SMACH does not seem to fit, as it would force me to code the plan in Python.

Thanks