Dirmenu is a project mainly written in SHELL and PERL, it's free.
Directory-based command-line menu
This is a bash application which builds a menu based solely on a given directory's structure and some configuration files. (a more complete description is on the way)
INSTALL
You want to install dirmenu? Run the following command and it will install itself for you (utils-menu will be installed in /opt/dirmenu)
curl -L http://goo.gl/rRBCN | sudo bash
If you want to install dirmenu in a different directory, it's easy! For example, to install dirmenu at ~/.dirmenu, just run:
curl -L http://goo.gl/rRBCN | sudo GBINSTALLDIR=~/.dirmenu bash
For more details about this program, visit http://github.com/andrefs/dirmenu