I'm building a WP 3.2 site with a couple of custom post types and taxonomies. I'm calling one of these custom post types programs, and its associated taxonomy is called topics.
I'd like to add an item called "Topics" in the site's horizontal navigation, with a dropdown submenu that lists all categories in the topics taxonomy. Each submenu item would then link to its respective category archive page.
Is this possible? I assumed this would be pretty easy in WordPress, but I've been searching around for a while to no avail.
EDIT: This blog post and plugin come close, but it seems to only apply to blog categories (that is, I don't see how to adapt it for a custom taxonomy).