In this tutorial I am going to convert a bootstrap html menu to wordpress menu with bootstrap classes.After watching this tutorial you can add your own custom classes to wordpress nav bar.
Download "class-wp-bootstrap-navwalker" at Github. Place it in your theme-root. Register navwalker in functions.php. You have to have the file popper.min.js too, or cdn-enque bootstrap bundle js (in functions.php) . Good luck! :)