Creating publishers and subscribers based on a config file

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I am creating a ROS bridge to an network of devices (think serial network). The serial network connection must be managed by a single process (i.e. a single interface node). I would like to create a flexible bridge node that would allow for any configuration of devices on the serial network. As a result, I cannot hardcode topics the interface node will publish and subcribe to. One solution is to load a yaml file on startup that would specify the topics, but I have not seen this done before. Has anybody dynamically created multiple topics from a yaml file? Are there any issues with this approach? Is there a good example that I could look at?