There is one small mistake in registering endpoints. Replace the line:
register_rest_route( 'setup', '/client/menu'
with:
register_rest_route( 'setup/client', '/menu'
The following is a complete snippet of your code:
add_action( 'init', 'setup_init' );
function setup_init() {
add_action( 'rest_api_init', 'wpc_register_wp_api_endpoints' );
function wpc_register_wp_api_endpoints() {
register_rest_route( 'setup/client', '/menu', array(
'methods' => 'GET',
'callback' => 'menu_setup',
));
}
function menu_setup($request_data){
return 'hello world';
}
}
, - , :)