Display a Custom Menu in a Drupal 7 Theme Template File

For reference, this is the code needed to display a menu in a Drupal 7 template file, including the navigation ARIA role.

$menu_name = 'menu-footer-menu';
$menu_id = 'footer-menu';
print theme('links', array(
'links' => menu_navigation_links($menu_name),
'attributes' => array(
'id' => $menu_id,
'role' => 'navigation',
'class'=> array('links', 'inline')
)
));