Below is a walker class that will do just that. Add this to your functions.php file;
class Description_Walker extends Walker_Nav_Menu
{
function start_el(&$output, $item, $depth, $args)
{
$classes = empty($item->classes) ? array () : (array) $item->classes;
$class_names = join(' ', apply_filters( 'nav_menu_css_class', array_filter( $classes ), $item ) );
!empty ( $class_names ) and $class_names=" class="". esc_attr( $class_names ) . '"';
$output .= "";
$attributes="";
!empty( $item->attr_title ) and $attributes .= ' title="' . esc_attr( $item->attr_title ) .'"';
!empty( $item->target ) and $attributes .= ' target="' . esc_attr( $item->target ) .'"';
!empty( $item->xfn ) and $attributes .= ' rel="' . esc_attr( $item->xfn ) .'"';
!empty( $item->url ) and $attributes .= ' href="' . esc_attr( $item->url ) .'"';
$title = apply_filters( 'the_title', $item->title, $item->ID );
$item_output = $args->before
. "<a $attributes $class_names>"
. $args->link_before
. $title
. '</a>'
. $args->link_after
. $args->after;
$output .= apply_filters( 'walker_nav_menu_start_el', $item_output, $item, $depth, $args );
}
}
function header_nav()
{
wp_nav_menu(
array(
'theme_location' => 'header-menu',
'menu' => '',
'container' => '',
'container_class' => '',
'container_id' => '',
'menu_class' => '',
'menu_id' => '',
'echo' => true,
'fallback_cb' => 'wp_page_menu',
'before' => '',
'after' => '',
'link_before' => '',
'link_after' => '',
'items_wrap' => '%3$s',
'depth' => 0,
'walker' => new Description_Walker
)
);
}
Then finally, in your theme header add a call to the nav header_nav() wherever you want your menu to appear. Here I have wrapped it with a NAV element;
<nav class="" id="" role="navigation">
<?php header_nav(); ?>
</nav>
This should output this;
<nav role="navigation" id="">
<a class="menu-item menu-item-type-custom menu-item-object-custom current-menu-item current_page_item" href="#">Link 1</a>
<a class="menu-item menu-item-type-taxonomy menu-item-object-category" href="#">link 2</a>
<a class="menu-item menu-item-type-taxonomy menu-item-object-category" href="#">link 3</a>
</nav>