This is how I got it, using the mentioned library:
This layout contains the top level sliding menu, which references the layout of the menu (fragment_nav_menu) and the layout with the sub-menu layout reference as view above.
<com.jeremyfeinstein.slidingmenu.lib.SlidingMenu xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:sliding="http://schemas.android.com/apk/res-auto"
android:id="@+id/slidingMenuRoot"
android:layout_width="fill_parent"
android:layout_height="fill_parent"
sliding:viewAbove="@layout/sliding_sub_menu"
sliding:viewBehind="@layout/fragment_nav_menu"
sliding:touchModeAbove="fullscreen"
/>
This would be the second level menu (sliding_sub_menu.xml), note that what you set as viewAbove here is going to be the actual top-level content.
<com.jeremyfeinstein.slidingmenu.lib.SlidingMenu
xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:sliding="http://schemas.android.com/apk/res-auto"
android:id="@+id/slidingSubMenuRoot"
android:layout_width="fill_parent"
android:layout_height="fill_parent"
sliding:viewAbove="@layout/fragment_content"
sliding:viewBehind="@layout/fragment_sliding_menu"
sliding:touchModeAbove="fullscreen"
/>
The content layout (fragment_content.xml) might be like this, a simple FrameLayout, and then, programmatically, you would add the desired fragment.
<FrameLayout xmlns:android="http://schemas.android.com/apk/res/android"
android:id="@+id/mainContentFrame"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:background="@drawable/app_background"
/>
Likewise, the sliding sub-menu content, is defined in the layout file (fragment_sliding_menu.xml) and used programmatically to ad a Fragment instance.
<FrameLayout xmlns:android="http://schemas.android.com/apk/res/android"
android:id="@+id/mainContentFrame"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:background="@drawable/app_background"
/>
To add a fragment to those FrameLayouts, use something like this (maybe also removing a potential previous fragment before adding a new one):
FragmentTransaction fragTrans = getSupportFragmentManager().beginTransaction();
fragTrans.add(R.id.slidingSubMenuFrame, SubMenuFragment.newInstance(this));
fragTrans.commit();
I haven't tested it much yet, but seems to work. Of course, further logic is needed to implement the desired behavior of the menus (close listener, select items, etc).