Menu Visibility By Role

I want to know if there is a way to have menu's visible to only certain users based on the roles assigned. I was able to do somethign similar with blocks y adding php to it

global $user;
foreach ($user->roles as $rid => $name) {
  if ($rid == '2') {
    echo '<ul>
    <li><a href="https://google.com/">trial</a>
    </ul>';
  }
}

but this has to be done manually and its not a menu.

how would i go about making the menu visible to only certain roles.