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There are some tutorials about making your own plugins for RVIZ which will allow you to do all these things. The code for these can be found in this git repo.

You'll need to capture mouse events on the view port to be able to visually select objects and draw routes, but this is all possible. The main things you'll need to know about this will be QT for the interface and OGRE graphics engine that RVIZ uses.

Hope this points you in the right direction.