Menu items from a navigation menu

 wp_get_nav_menu_items



<?php 

$args = array(
        'order'                  => 'ASC',
        'orderby'                => 'menu_order',
        'post_type'              => 'nav_menu_item',
        'post_status'            => 'publish',
        'output'                 => ARRAY_A,
        'output_key'             => 'menu_order',
        'nopaging'               => true,
        'update_post_term_cache' => false );
 
$items = wp_get_nav_menu_items( $menu, $args );

// get custom menu content

$menu_items = wp_get_nav_menu_items('main-menu');

if(sizeof($menu_items)>0)
{
    foreach ( $menu_items as $menu_item )
    {

        $post = get_post( $menu_item->object_id );           
            $content = apply_filters('the_content', $post->post_content);
            $content = str_replace(']]>', ']]&gt;', $content);
            echo '<div>'.$content.'</div>';
       
    }
}