The following modded version of PCMan File Manager adds user-definable commands to the right-click menu, as well as a number of other feature additions/changes and bug fixes. This is a fork of the current stable PCManFM 0.5.2. You can get all the details here:
http://igurublog.wordpress.com/downloads/mod-pcmanfm/
This includes a script that builds it automatically - you just need the same build dependencies that PCManFM requires. This mod is a few months old now and has been running very well.
Also, the latest update includes a workaround for the GTK 2.20 (2.19?) bug which has crippled some functionality in PCManFM (old and new versions) as well as Thunar. From bug reports it appears that this bug affects Lucid. You can see more about this bug here.
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