Here is some utilities menu for retropie:

Note: for the network config you need a program called wicd-curses which is not in the RetroPie image, so you need internet to install it first, maybe in the future it can be default?
Installation:
Extract the contents of the rar file to your /home/pi/RetroPie/roms
Make shure your es_systems.cfg has the following entry like this:
DESCNAME=RetroPie Menu
NAME=esconfig
PATH=/home/pi/RetroPie/roms/esconfig
EXTENSION=.sh .SH
COMMAND=%ROM%