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All of those feature should be implementable, with enough work. You would start by deconstructing the code for stageros and augmenting it with the features that you want. Basically, you'd end up writing your own ROS wrapper for libstage, with the extra functionality that you want. I expect that the toughest part will be the graphical selection of robots and execution of ROS code, because that may require modifying libstage's GUI hooks.

Fair warning: you'll be coding in a space that is not well exercised by other people, and so you'll likely end up diving into the libstage code itself to understand what's going on.

Sorry that I can't provide more guidance than that; if I were doing this, I would start by reading the libstage headers to see what's possible.