Magento create a menu and set page for it -

i want create menu extension in admin panel.

currently, create menu successfully, can't link page want correctly.

i add following snippets follows in config.xml

<?xml version="1.0"?> <config>     <menu>         <namespace translate="title" module="namespace_mymodule">             <title>...</title>             <sort_order>90</sort_order>             <children>                 <form translate="title" module="namespace_mymodule">                     <title>form</title>                     <sort_order>10</sort_order>                     <action>adminhtml/mymodule</action>                 </form>             </children>         </namespace>     </menu> </config> 

if set mymodule/index, page of menu can linked frontend/default/default/template/mymodule/index.phtml.

but want set authority menu page, people has logged in can access menu page. possible? , if want link adminhtml/default/default/template/mymodule/index.phtml, how set in <action></action>?

thanks

this link can in . had integrated menu , assigned link using this.

thanks.