bootstrap.php

<?php

public function onBootstrap(MvcEvent $event)
{
    $application        = $event->getApplication();
    $eventManager       = $application->getEventManager();
    $sharedEventManager = $eventManager->getSharedManager;
    $serviceManager     = $application->getServiceManager();
    $rbacListener       = $serviceManager->get('MyApp\Authorization\RbacListener');

    $sharedEventManager->attach(
        'Zend\View\Helper\Navigation\AbstractHelper',
        'isAllowed',
        array($rbacListener, 'accept')
    );
}

config.php

<?php

return array(
    'service_manager' => array(
        'factories' => array(
            'MyApp\Authorization\RbacListener' => 'MyApp\Factory\RbacListenerFactory',
        ),
    ),
);

RbacListener.php

<?php

namespace MyApp\Authorization;

use Zend\EventManager\EventInterface;
use Zend\Navigation\Page\AbstractPage;
use ZfcRbac\Service\AuthorizationServiceInterface;

class RbacListener
{
    /**
     * @var AuthorizationServiceInterface
     */
    protected $authorizationService;

    /**
     * @param AuthorizationServiceInterface $authorizationService
     */
    public function __construct(AuthorizationServiceInterface $authorizationService)
    {
        $this->authorizationService = $authorizationService;
    }

    /**
     * @param  EventInterface $event
     * @return bool|void
     */
    public function accept(EventInterface $event)
    {
        $page = $event->getParam('page');

        if (!$page instanceof AbstractPage) {
            return;
        }

        $permission = $page->getPermission();

        if (null === $permission) {
            return;
        }

        $event->stopPropagation();

        return $this->authorizationService->isGranted($permission);
    }
}

RbacListenerFactory.php

<?php

namespace MyApp\Factory;

use MyApp\Authorization\RbacListener;
use Zend\ServiceManager\FactoryInterface;
use Zend\ServiceManager\ServiceLocatorInterface;

class RbacListenerFactory implements FactoryInterface
{
    /**
     * {@inheritDoc}
     */
    public function createService(ServiceLocatorInterface $serviceLocator)
    {
        $authorizationService = $serviceLocator->get('ZfcRbac\Service\AuthorizationService');

        return new RbacListener($authorizationService);
    }
}