wp_nav_menu(array(
                'container' => false,                           
                'menu' => 'The Footer Links',                    
                'menu_class' => 'nav',  
                'theme_location' => 'footer-nav',
                'items_wrap' => '<nav id="%1$s" class="%2$s" role="navigation">%3$s</nav>',                                                                                                         
                'depth' => 1,                                   
                'walker' => new Links_Walker_Nav_Menu()
));
 
class Links_Walker_Nav_Menu extends Walker_Nav_Menu {
 
                function start_el( &$output, $item, $depth = 0, $args = array(), $id = 0 ) {
                               //Add attributes to link element.
                               $attributes  = ! empty( $item->attr_title ) ? ' title="'  . esc_attr( $item->attr_title ) .'"' : '';
                               $attributes .= ! empty( $item->target ) ? ' target="' . esc_attr( $item->target     ) .'"' : '';
                               $attributes .= ! empty( $item->xfn ) ? ' rel="'    . esc_attr( $item->xfn        ) .'"' : '';
                               $attributes .= ! empty( $item->url ) ? ' href="'   . esc_attr( $item->url        ) .'"' : '';
                               $attributes .= ($item->current) ? ' class="active"' : '';
                              
                               $output .= ($item->menu_order > 1) ? ' | ' : '';                 
                               $output .= '<a'. $attributes .'>';
                               $output .= $args->link_before . apply_filters( 'the_title', $item->title, $item->ID ) . $args->link_after;
                               $output .= '</a>';
 
                }
               
                function end_el(&$output, $item, $depth = 0, $args = array()) {
                               $output .= '';
                }
               
}