init.el

(require 'imenu)

(defun goto-symbol (&optional symbol-list)
  (interactive)
  (cond
   ((not symbol-list)
	(let (name-and-pos symbol-names position)
	  (while (progn
			   (imenu--cleanup)
			   (setq imenu--index-alist nil)
			   (goto-symbol (imenu--make-index-alist))
			   (setq selected-symbol (ido-completing-read "Go to symbol: " symbol-names))
			   (string= (car imenu--rescan-item) selected-symbol)))
	  (unless (and (boundp 'mark-active) mark-active)
		(push-mark nil t nil))
	  (setq position (cdr (assoc selected-symbol name-and-pos)))
	  (cond
	   ((overlayp position)	(goto-char (overlay-start position)))
	   (t(goto-char position)))))
   ((listp symbol-list)
	(dolist (symbol symbol-list)
	  (let (name position)
		(cond
		 ((and (listp symbol) (imenu--subalist-p symbol)) (goto-symbol symbol))
		 ((listp symbol) (setq name (car symbol)) (setq position (cdr symbol)))
		 ((stringp symbol) (setq name symbol) (setq position (get-text-property 1 'org-imenu-marker symbol))))
		(unless (or (null position) (null name)	(string= (car imenu--rescan-item) name))
		  (add-to-list 'symbol-names name)
		  (add-to-list 'name-and-pos (cons name position))))))))

(global-set-key (kbd "C-c s") #'goto-symbol)