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Here is an example yaml file you can use to specify topic names to be connected to:

topics:
    - topic1
    - topic2
    - topic3
    - topic4

What you see here is a map with one key "topics", its value is a list with 4 string elements. That's pretty much all you need to know about yaml syntax to cover 90% use cases in ROS (both reading and writing config files).

To read those topic names in a ROS node using roscpp, see this page. Scroll all the way down to "Retrieving Lists".