Edit HTML of WordPress navigation bar

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Yes, you’ll need to implement the walker class for this.

Here is a simple example.

$defaults = array(
    'theme_location' => 'primary',
    'container'      => 'ul',
    'menu_class'     => 'nav navbar-nav main-nav',
    'walker'         => new Primary_Walker_Nav_Menu()
);

wp_nav_menu( $defaults );

In the above block of code, the wp_nav_menu() function takes $defaults as argument. In the array $defaults, the last key is walker. Te walker key’s value is object of a class Primary_Walker_Nav_Menu.

In functions.php file implement the following code:

class Primary_Walker_Nav_Menu extends Walker_Nav_Menu {
    function start_el(&$output, $item, $depth = 0, $args = array(), $id = 0) {
        if (array_search('menu-item-has-children', $item->classes)) {
            $output .= sprintf("\n<li class="dropdown %s"><a href="https://wordpress.stackexchange.com/questions/172582/%s" class=\"dropdown-toggle\" data-toggle=\"dropdown\" >%s</a>\n", ( array_search('current-menu-item', $item->classes) || array_search('current-page-parent', $item->classes) ) ? 'active' : '', $item->url, $item->title
            );
        } else {
            $output .= sprintf("\n<li %s><a href="https://wordpress.stackexchange.com/questions/172582/%s">%s</a>\n", ( array_search('current-menu-item', $item->classes) ) ? ' class="active"' : '', $item->url, $item->title
            );
        }
    }

    function start_lvl(&$output, $depth) {
        $indent = str_repeat("\t", $depth);
        $output .= "\n$indent<ul class=\"dropdown-menu\" role=\"menu\">\n";
    }
}

The start_el() method is used to add the opening HTML tag for a single tree item (such as <li>, <span>, or <a>) to $output.

The start_lvl() method is run when the walker reaches the start of a new “branch” in the tree structure.

Generally, this method is used to add the opening tag of a container HTML element (such as <ol>, <ul>, or <div>) to $output.

The output of the above implementation will result in the following HTML:

<ul id="menu-main-navigation" class="nav navbar-nav main-nav">
   <li class="dropdown ">
      <a href="http://karunshakya.com.np/services/" class="dropdown-toggle">Services</a>
      <ul class="dropdown-menu" role="menu">
         <li><a href="http://karunshakya.com.np/services/selection-et-recrutement/">Sélection et recrutement</a></li>
         <li><a href="http://karunshakya.com.np/services/mise-disposition-de-personnel/">Mise disposition de personnel</a></li>
         <li><a href="http://karunshakya.com.np/services/gestion-de-salaire/">Gestion de salaire</a></li>
      </ul>
   </li>
   <li><a href="http://karunshakya.com.np/news/">News</a></li>
   <li><a href="http://karunshakya.com.np/medias/">Medias</a></li>
   <li class="last-child"><a href="http://karunshakya.com.np/contactez-nous/">Contactez-nous</a></li>
</ul>

How to use the Walker Class:
http://code.tutsplus.com/tutorials/understanding-the-walker-class–wp-25401

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