This gist is for showing an example of a custom wordpress menu.
If you want to get more from the menu item simply have a look at the $item object. i.e:
// Will return a large object with lots of props like title, url, description, id etc.
var_dump( $item );
This code works on Wordpress 4.1.1 as of 31st of March 2015
Hi. Your code is buggy. If you add a category to menu a error is shown. $page->post_title change with $item->title and $link = get_page_link( $id ) with $link = $item->url;. Also $page->post_excerpt won't exist.