if you set the access control correctly and set the logical for that it can 
be done, for menu i think you can do something like :
*controllers/install.py*
def index():
if db(db.auth_permission).isempty() and db(db.auth_membership).isempty():
# group
auth.add_group('Finance', 'Finance')
 # user
db.auth_user.bulk_insert([{"first_name" : "Finance", "last_name" : 
"Manager", 
   "email" : "financemana...@a.com", "username" : "financemanager", 
   "password" : db.auth_user.password.validate("password")[0]}, ])
 """
membership (group_id, user_id)
"""
# Finance
auth.add_membership('1', '1')
session.flash = T('Installation Done')
redirect(URL("default", "index") )

*models/menu.py*
if auth.has_membership(role = 'Finance'):
    response.menu += [
(T('Finance'), False, URL('default', 'index'), [
(T('Master'), False, URL('finance_master', 'index'), [
(T('Bank'), False, URL('finance_master', 'bank'), []),
]),
(T('Transaction'), False, URL('finance_transaction', 'index'), [
(T('Payment'), False, URL('finance_transaction', 'payment_cart'), []),
]),
(T('Report'), False, URL('finance_report', 'index'), [
(T('Payment'), False, URL('finance_report', 'report_payment'), []),
]),
]), 
    ]

best regards,
stifan

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