TYPO3 Menu with categories? - typo3

Question

How can I add the categories to each page of my menu element?
I have been trying different combinations of DatabaseQueryProcessor but the array comes through empty.
This is what I currently have based on other examples:
dataProcessing {
10 = TYPO3\CMS\Frontend\DataProcessing\MenuProcessor
10 {
special = list
special.value.field = pages
levels = 2
as = menuItems
expandAll = 1
includeNotInMenu = 1
titleField = nav_title // title
dataProcessing {
10 = TYPO3\CMS\Frontend\DataProcessing\FilesProcessor
10 {
references.fieldName = media
}
20 = TYPO3\CMS\Frontend\DataProcessing\DatabaseQueryProcessor
20 {
if.isTrue.field = categories
table = sys_category
pidInList = root,-1
selectFields = sys_category.*
where.data = field:_ORIG_uid // field:uid
as = categories
}
}
}
}

Answer 1

The pidInList needs to be the page where the categories are stored.
20 = TYPO3\CMS\Frontend\DataProcessing\DatabaseQueryProcessor
20 {
if.isTrue.field = categories
table = sys_category
selectFields = sys_category.*
pidInList = 55
recursive = 999
join = sys_category_record_mm ON sys_category_record_mm.uid_local = sys_category.uid
where.data = field:_ORIG_uid // field:uid
where.intval = 1
where.wrap = sys_category_record_mm.uid_foreign=|
as = categories
}