How to catch the category to put it in my dynamic menu with voyager and laravel

Question

I am a beginner in laravel and voyager. I would like to create a dynamic menu of the categories of my posts. I created a main menu corresponding to my post categories but I can't find how to associate it with my categories dynamically on voyager. What should I put in place of "Route for the menu item" I would also like to replace the name of my item with an image that is not a font icon of voyager font class. Is it possible ?

I tried to create my route with this :

use App\Http\Controllers\CategoriesController; Route::resource('categories', CategoriesController::class);

Thank you in advance for your answers !