Drupal menu creation with Migrate module from a CSV file - Got it from Google Cache of this page: http://www.mezasefi.com/d/en/blogs/nobu/2012-10-02/sample-migration-module-importing-menu-csv.html

mySampleMenusMigration.class.php

<?php
class mySampleMenusMigration extends Migration {
  public function __construct() {
    parent::__construct(MigrateGroup::getInstance('mySampleMenusMigration'));
    $this->description = t('Creates sample menues.');

    // the csv file contains the header.
    $dir = drupal_get_path('module', 'mySampleMigrate');
    $this->source = new MigrateSourceCSV("$dir/sample_menus.csv", array(), array('header_rows' => 1));

    $this->destination = new MigrateDestinationMenuLinks();

    $this->map = new MigrateSQLMap($this->machineName,
      array(
        'mlid' => array(
          'type' => 'int',
          'unsigned' => TRUE,
          'not null' => TRUE,
          'description' => 'ID of destination link',
        ),
      ),
      MigrateDestinationMenuLinks::getKeySchema()
    );


    $this->addFieldMapping('menu_name')->defaultValue('main-menu'); // Always Main menu
    $this->addFieldMapping('plid', 'ref_parent')->sourceMigration($this->getMachineName());
    $this->addFieldMapping('link_path', 'path');          // path of the link
    $this->addFieldMapping('router_path')->defaultValue('node/%');
    $this->addFieldMapping('link_title', 'title');        // Title of the menu item
    $this->addFieldMapping('external')->defaultValue('0'); // Internal
    $this->addFieldMapping('expanded')->defaultValue('0');
    $this->addFieldMapping('weight','weight');            // weight
    $this->addFieldMapping('customized')->defaultValue('1'); // not customized
    $this->addFieldMapping('has_children')->defaultValue('0');  // Will be overridden automatically
    $this->addFieldMapping('depth')->defaultValue('1'); // Will be overridden automatically

    $this->addUnmigratedDestinations(array('module', 'hidden','options','p1', 'p2', 'p3', 'p4', 'p5', 'p6', 'p7', 'p8', 'p9', 'updated'));

  }


   function prepareRow($row) {
      // Convert the alias to the node path.
      $node_path = drupal_lookup_path('source', $row->path);
      if(FALSE == $node_path)
      {
        return FALSE;
      }
      
      $row->path = $node_path;
   }


/**
   * <a href="http://drupal.org/node/1403044#comment-5790748
" title="http://drupal.org/node/1403044#comment-5790748
">http://drupal.org/node/1403044#comment-5790748
</a>   * Creates a stub menu link, for when a child is imported before its parent
   *
   * @param $migration
   *  The source migration
   * @return
   *  int $mlid on success
   *  FALSE on failure
   */
  protected function createStub($migration) {
    // if ref_parent is 0, that means it has no parent, so don't create a stub
    if (!$migration->sourceValues->ref_parent) {
      return FALSE;
    }
    $menu_link = array (
      'menu_name' => $migration->sourceValues->menu_name,
      'link_path' => 'stub-path',
      'router_path' => 'stub-path',
      'link_title' => t('Stub title'),
    );
    $mlid = menu_link_save($menu_link);
    if ($mlid) {
      return array($mlid);
    }
    else {
      return FALSE;
    }
  }
}

sample_menu.csv