Output menu with menu title

menu_with_title.php

<?php
    $menu = 'footer_primary_nav';
    if (has_nav_menu($menu)) {
      $locations = get_nav_menu_locations();
      $menu_id = $locations[$menu] ;
      $menu_object = wp_get_nav_menu_object($menu_id);
      $menu_title = $menu_object->name;
      // print_r($menu_object);
      wp_nav_menu(array(
        'theme_location' => $menu,
        'depth'=> 1,
        'items_wrap' => '<h4>'.$menu_title.'</h4><ul>%3$s</ul>'
      ));
    }
?>