Its possible:
if (has_nav_menu('topheader')) {
// User has assigned menu to this location;
// output it
wp_nav_menu(array(
'theme_location' => 'topheader',
'menu_class' => 'topMenu', /* bootstrap ul */
'walker' => new My_Walker_Nav_Menu(), /* changes to a bootstrap class */
'items_wrap' => '<ul id="%1$s" class="%2$s">%3$s</ul>',
'menu_id' => 'topMenu'
));
}else{
if (is_user_logged_in()) { //we check if the user is logged in
echo '<a href="https://wordpress.stackexchange.com/wp-admin/nav-menus.php?action=edit&menu=0">Add New Menu</a>';
}
}
this will open the menu dashboard ready to create a new menu.