function bp_nav_menu( $args = array() ) {
	static $menu_id_slugs = array();

	$defaults = array(
		'after'           => '',
		'before'          => '',
		'container'       => 'div',
		'container_class' => '',
		'container_id'    => '',
		'depth'           => 0,
		'echo'            => true,
		'fallback_cb'     => false,
		'items_wrap'      => '<ul id="%1$s" class="%2$s">%3$s</ul>',
		'link_after'      => '',
		'link_before'     => '',
		'menu_class'      => 'menu',
		'menu_id'         => '',
		'walker'          => '',
	);
	$args = wp_parse_args( $args, $defaults );

	/**
	 * Filters the parsed bp_nav_menu arguments.
	 *
	 * @since 1.7.0
	 *
	 * @param array $args Array of parsed arguments.
	 */
	$args = apply_filters( 'bp_nav_menu_args', $args );
	$args = (object) $args;

	$items = $nav_menu = '';
	$show_container = false;

	// Create custom walker if one wasn't set.
	if ( empty( $args->walker ) ) {
		$args->walker = new BP_Walker_Nav_Menu;
	}

	// Sanitise values for class and ID.
	$args->container_class = sanitize_html_class( $args->container_class );
	$args->container_id    = sanitize_html_class( $args->container_id );

	// Whether to wrap the ul, and what to wrap it with.
	if ( $args->container ) {

		/**
		 * Filters the allowed tags for the wp_nav_menu_container.
		 *
		 * @since 1.7.0
		 *
		 * @param array $value Array of allowed tags. Default 'div' and 'nav'.
		 */
		$allowed_tags = apply_filters( 'wp_nav_menu_container_allowedtags', array( 'div', 'nav', ) );

		if ( in_array( $args->container, $allowed_tags ) ) {
			$show_container = true;

			$class     = $args->container_class ? ' class="' . esc_attr( $args->container_class ) . '"' : ' class="menu-bp-container"';
			$id        = $args->container_id    ? ' id="' . esc_attr( $args->container_id ) . '"'       : '';
			$nav_menu .= '<' . $args->container . $id . $class . '>';
		}
	}

	/**
	 * Filters the BuddyPress menu objects.
	 *
	 * @since 1.7.0
	 *
	 * @param array $value Array of nav menu objects.
	 * @param array $args  Array of arguments for the menu.
	 */
	$menu_items = apply_filters( 'bp_nav_menu_objects', bp_get_nav_menu_items(), $args );
	$items      = walk_nav_menu_tree( $menu_items, $args->depth, $args );
	unset( $menu_items );

	// Set the ID that is applied to the ul element which forms the menu.
	if ( ! empty( $args->menu_id ) ) {
		$wrap_id = $args->menu_id;

	} else {
		$wrap_id = 'menu-bp';

		// If a specific ID wasn't requested, and there are multiple menus on the same screen, make sure the autogenerated ID is unique.
		while ( in_array( $wrap_id, $menu_id_slugs ) ) {
			if ( preg_match( '#-(\d+)$#', $wrap_id, $matches ) ) {
				$wrap_id = preg_replace('#-(\d+)$#', '-' . ++$matches[1], $wrap_id );
			} else {
				$wrap_id = $wrap_id . '-1';
			}
		}
	}
	$menu_id_slugs[] = $wrap_id;

	/**
	 * Filters the BuddyPress menu items.
	 *
	 * Allow plugins to hook into the menu to add their own <li>'s
	 *
	 * @since 1.7.0
	 *
	 * @param array $items Array of nav menu items.
	 * @param array $args  Array of arguments for the menu.
	 */
	$items = apply_filters( 'bp_nav_menu_items', $items, $args );

	// Build the output.
	$wrap_class  = $args->menu_class ? $args->menu_class : '';
	$nav_menu   .= sprintf( $args->items_wrap, esc_attr( $wrap_id ), esc_attr( $wrap_class ), $items );
	unset( $items );

	// If we've wrapped the ul, close it.
	if ( ! empty( $show_container ) ) {
		$nav_menu .= '</' . $args->container . '>';
	}

	/**
	 * Filters the final BuddyPress menu output.
	 *
	 * @since 1.7.0
	 *
	 * @param string $nav_menu Final nav menu output.
	 * @param array  $args     Array of arguments for the menu.
	 */
	$nav_menu = apply_filters( 'bp_nav_menu', $nav_menu, $args );

	if ( ! empty( $args->echo ) ) {
		echo $nav_menu;
	} else {
		return $nav_menu;
	}
}