Sorry, my scriptblocker was blocking that menu that you wanted me to see.
The link you posted is not what you are looking for.
Anyway, it looks to me like you could create the menu with what TP already has. The menu manager in the Admin section of TP will show you how to create/edit/add menu items. Just change the links and stuff to point to the board/category you want. When you create a new Category link choose the "header" type. This will make the categories bold. Then just create regular links after each category for each board in the category.