Hector_SLAM, How to read sensor data from remote interface

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I am working on two approaches to do generate map scans from a remote device.

The basic hardware set-up:

At the robot is a BeagleBone/Ubuntu with Hokuyo and UM6-IMU w/Ethernet connection to Access Point.

At the command center is a control PC running Hector_SLAM

Approach 1: Have the control PC/Hector_SLAM poll the robot for needed sensor data.

Approach 2: Stream the sensor data from the robot to the control PC. Hector_SLAM reads sensor data at the control PC.

Approach 2 will cut radio traffic as only transmissions from the robot end are needed so I believe this is the preferred method, but???

A) Does the streamed data need to go to a folder from which Hector_SLAM pulls the data? How??

or

B) Can Hector_SLAM read the streaming data directly? How??