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OLF's menu can be manipulated by a content module class implementing the interface MenuModule. Like all content modules it should be placed into the folder grails-app/modules/ of an arbitrary OLF module. It is important that the name of the class ends in MenuModule for grails to recognize the class as corresponding artefact.
As you can see there are two methods. getPriority() can be used to manipulate the order of the menu. Menu entries with a higher priority will be closer to the left side. getMenu() should create an XML markup for the menu by adding "menuitems". A menuitems takes a controller, action, and label to create a new link. Menuitems can be grouped in a submenu by adding a corresponding level to the XML hierarchy. Submenu items only require a label.