web/web_menu_navbar_needaction/views/ir_ui_menu.xml

<?xml version="1.0" encoding="UTF-8"?>
<openerp>
    <data>
        <record id="edit_menu_access" model="ir.ui.view">
            <field name="model">ir.ui.menu</field>
            <field name="inherit_id" ref="base.edit_menu_access" />
            <field name="arch" type="xml">
                <field name="sequence" position="after">
                    <field name="needaction" />
                    <field name="needaction_domain" attrs="{'invisible': [('needaction', '=', False)]}" placeholder="Fill in a domain for a custom needaction" />
                </field>
            </field>
        </record>
    </data>
</openerp>