I just copied this out of a working project where I used angular-ui bootstrap:
<div class="navbar navbar-inverse navbar-fixed-top" role="navigation">
<div class="container">
<div class="navbar-header">
<button type="button" class="navbar-toggle btn navbar-btn" ng-init="navCollapsed = true"
ng-click="navCollapsed = !navCollapsed">
<span class="sr-only">Toggle navigation</span>
<span class="icon-bar"></span>
<span class="icon-bar"></span>
<span class="icon-bar"></span>
</button>
<a class="navbar-brand" href="/#">Bake-Off</a>
</div>
<div collapse="navCollapsed" class="navbar-collapse collapse navbar-responsive-collapse">
<ul class="nav navbar-nav">
<li><a href="#" >Link 1</a></li>
<li><a href="#" >Link 2</a></li>
<li></li>
</ul>
<div class="container navbar-form navbar-right">
</div>
</div>
<!--/.navbar-collapse -->
</div>
</div>