Zend FR

<accueil>
        <label>Accueil</label>
        <module>application</module>
        <controller>index</controller>
        <action>index</action>
        <uri>/</uri>
        <pages>
            <index>
                <label>Accueil</label>
                <controller>index</controller>
                <action>index</action>
                <uri>index/index</uri>
            </index>
        </pages>
    </accueil>

$reader     = new Zend\Config\Reader\Xml();
$config      = $reader->fromFile(PATH_ROOT . '/config/navigation.xml');
$container = new Zend\Navigation\Navigation($config);
foreach ($container as $page) {
    echo '<li><a href="'. $page->uri . '">' .$page->label .'</a></li>';
}

echo $this->navigation()->menu()->renderMenu(null, array('maxDepth'=>0));

echo $this->navigation()->menu()->renderMenu(null, array('minDepth'=>1,'maxDepth'=>1,'onlyActiveBranch'=>true,'renderParents'=>false));

$reader     = new Zend\Config\Reader\Xml();
$config      = $reader->fromFile(PATH_ROOT . '/config/navigation.xml');
$container = new Zend\Navigation\Navigation($config);

echo $this->navigation()->menu()->setUlClass('nav')
                ->setMinDepth(1)
                ->setMaxDepth(1)
                ->setRenderInvisible(false)
                ->renderMenu($container, array('maxDepth' => 0));

object(Zend\Navigation\Navigation)[233]
  protected 'pages' => 
    array (size=1)
      '000000007bf5ff20000000000929a463' => 
        object(Zend\Navigation\Page\Mvc)[234]
          protected 'action' => string 'index' (length=5)
          protected 'controller' => string 'index' (length=5)
          protected 'query' => null
          protected 'params' => 
            array (size=0)
              ...
          protected 'route' => null
          protected 'hrefCache' => null
          protected 'routeMatch' => null
          protected 'useRouteMatch' => boolean false
          protected 'router' => null
          protected 'label' => string 'Accueil' (length=7)
          protected 'fragment' => null
          protected 'id' => null
          protected 'class' => null
          protected 'title' => null
          protected 'target' => null
          protected 'rel' => 
            array (size=0)
              ...
          protected 'rev' => 
            array (size=0)
              ...
          protected 'order' => null
          protected 'resource' => null
          protected 'privilege' => null
          protected 'permission' => null
          protected 'textDomain' => null
          protected 'active' => boolean false
          protected 'visible' => boolean true
          protected 'parent' => 
            &object(Zend\Navigation\Navigation)[233]
          protected 'properties' => 
            array (size=2)
              ...
          protected 'pages' => 
            array (size=1)
              ...
          protected 'index' => 
            array (size=1)
              ...
          protected 'dirtyIndex' => boolean true
  protected 'index' => 
    array (size=1)
      '000000007bf5ff20000000000929a463' => null
  protected 'dirtyIndex' => boolean true

<nav>
  <home>
      <label>Home</label>
      <order>-100</order>
      <module>default</module>
      <controller>index</controller>
      <action>index</action>
  </home>
</nav>
//Edit : pris dans la doc

<?php

return [

    /* Configuration des Listerners du ModuleManager. */
    'module_listener_options' => [
        'module_paths' => [
            PATH_ROOT.'/modules',
        ],
    ],

    /* Modules à charger. */
    'modules' => [
         'Application',
        //'Contact',
        /*'Contract',
        'Customer',
        'Dashboard',
        'Device',
        'Excel',
        'Login',
        'Tickets',
        'Validation',*/
        //'Yaub'
        //'application',
    ],

    'service_manager' => [
        'factories' => [
            'Db'                          => 'Zend\Db\Adapter\AdapterServiceFactory',
            //'Navigation'                 => 'Zend\Navigation\Service\DefaultNavigationFactory',
            //'yaub_navigation_factory' => 'Yaub\Navigation\YaubNavigationFactory'
        ]
    ],
    'db' => [
        'driver'   => 'PDO Mysql',
        'host'     => 'localhost',
        'dbname'   => 'formation',
        'username' => 'root',
        'password' => ''
    ]
];

<?php

//return [
//
//    /* Définition des routes. */
//    'router' => [
//        'routes' => [
//            'default' => [
//                'type'         => 'Segment',
//                'options'    => [
//                    'route' => '/:module/:controller/:action',
//                ],
//            ],
//        ],
//    ],
//
//
//    /* Définition des contrôleurs du Module. */
//    'controllers' => [
//        'invokables' => [
//            'Index' => 'Application\Controller\Index',
//        ],
//    ],
//
//    /* Configuration de la gestion des vues. */
//    'view_manager' => [
//        'doctype'                 => 'HTML5',
//        //'layout'                => 'skeleton',
//        //'not_found_template'    => 'notfound',
//        'not_found_template'    => 'error/404',
//
//        /* Configuration du chargeur de templates par mapping. */
//        'template_map' => [
//        //    'skeleton'    => "{$sPath}/views/skeleton.phtml",
//        //    'notfound'    => "{$sPath}/views/error-404.phtml",
//            'layout/layout'           => __DIR__ . '/../views/layout/layout.phtml',
//            'application/index/index' => __DIR__ . '/../views/application/index/index.phtml',
//            'error/404'               => __DIR__ . '/../views/error/404.phtml',
//        ],
//
//        /* Configuration du chargeur TemplatePathStack. */
//        'template_path_stack' => [
//            "{$sPath}/views",
//        ],
//    ],
//];


/**
 * Zend Framework (http://framework.zend.com/)
 *
 * @link      http://github.com/zendframework/ZendSkeletonApplication for the canonical source repository
 * @copyright Copyright (c) 2005-2014 Zend Technologies USA Inc. (http://www.zend.com)
 * @license   http://framework.zend.com/license/new-bsd New BSD License
 */

return array(
    'router' => array(
        'routes' => array(
            'home' => array(
                'type' => 'Segment',
                'options' => array(
                    'route'    => '/',
                    'defaults' => array(
                        'controller' => 'Application\Controller\Index',
                        'action'     => 'index',
                    ),
                ),
            ),
            // The following is a route to simplify getting started creating
            // new controllers and actions without needing to create a new
            // module. Simply drop new controllers in, and you can access them
            // using the path /application/:controller/:action
            'application' => array(
                'type'    => 'Segment',
                'options' => array(
                    'route'    => '/application',
                    'defaults' => array(
                        '__NAMESPACE__' => 'Application\Controller',
                        'controller'    => 'Index',
                        'action'        => 'index',
                    ),
                ),
                'may_terminate' => true,
                'child_routes' => array(
                    'default' => array(
                        'type'    => 'Segment',
                        'options' => array(
                            'route'    => '/[:controller[/:action]]',
                            'constraints' => array(
                                'controller' => '[a-zA-Z][a-zA-Z0-9_-]*',
                                'action'     => '[a-zA-Z][a-zA-Z0-9_-]*',
                            ),
                            'defaults' => array(
                            ),
                        ),
                    ),
                ),
            ),
        ),
    ),
    'service_manager' => array(
        'abstract_factories' => array(
            'Zend\Cache\Service\StorageCacheAbstractServiceFactory',
            'Zend\Log\LoggerAbstractServiceFactory',
        ),
        'aliases' => array(
            'translator' => 'MvcTranslator',
        ),
    ),
    'translator' => array(
        'locale' => 'fr_FR',
        'translation_file_patterns' => array(
            array(
                'type'     => 'gettext',
                'base_dir' => __DIR__ . '/../language',
                'pattern'  => '%s.mo',
            ),
        ),
    ),
    'controllers' => array(
        'invokables' => array(
            'Application\Controller\Index' => 'Application\Controller\Index'
        ),
    ),
    'view_manager' => array(
        'display_not_found_reason' => true,
        'display_exceptions'       => true,
        'doctype'                  => 'HTML5',
        'not_found_template'       => 'error/404',
        'exception_template'       => 'error/index',
        'template_map' => array(
            'layout/layout'           => __DIR__ . '/../views/layout/layout.phtml',
            'application/index/index' => __DIR__ . '/../views/application/index/index.phtml',
            'error/404'               => __DIR__ . '/../views/error/404.phtml',
            'error/index'             => __DIR__ . '/../views/error/index.phtml',
        ),
        'template_path_stack' => array(
            __DIR__ . '/../views',
        ),
    ),
    // Placeholder for console routes
    'console' => array(
        'router' => array(
            'routes' => array(
            ),
        ),
    ),
);