how to edit grub2 menu in ubuntu

I means about grub2, not grub.

sudo vi /etc/default/grub

in that file /etc/default/grub, you can found

GRUB_TIMEOUT=10

change this to the seconds you want

GRUB_TIMEOUT=3

and then execute

sudo update-grub

to test this, you can find the file in /boot/grub/grub.cfg has been changed,

from

set_timeout=10

to

set_timeout=3