init-functions.el

(defun ido-goto-symbol ()
  "Will update the imenu index and then use ido to select a symbol to navigate to"
  (interactive)
  (imenu--make-index-alist)
  (let ((name-and-pos '())
		(symbol-names '()))
	(flet ((addsymbols (symbol-list)
					   (when (listp symbol-list)
						 (dolist (symbol symbol-list)
						   (let ((name nil) (position nil))
							 (cond
							  ((and (listp symbol) (imenu--subalist-p symbol))
							   (addsymbols 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))
							   (add-to-list 'symbol-names name)
							   (add-to-list 'name-and-pos (cons name position))))))))
	  (addsymbols imenu--index-alist))
	(let* ((selected-symbol (ido-completing-read "Symbol? " symbol-names))
		   (position (cdr (assoc selected-symbol name-and-pos))))
	  (goto-char position))))