[Rails] simple-navigation items from database

Hello, i would like to ask how can i generate menu items from database
using simple-navigation ? i was looking in documentation
https://github.com/andi/simple-navigation/wiki/Dynamic-Navigation-Items
but i dont get it.

i have default config/navigation.rb

SimpleNavigation::Configuration.run do |navigation|
...
end

and i have database

categories
id
category_id
name

how can i generate a menu ? thank you :-)

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