Phew, quite a few questions.
Panda ATM only supports outlines rendering for the whole scene.
But colored and selective outlines was done once by a community member. You can read about it here: [Cartoon Painter)
For lighting you’ll need to be a bit more specific. What do you need that is not described here?: panda3d.org/manual/index.php/Lighting
The looking through walls thing could be solved in several ways. The first that comes to my mind is rendering the wall into a separate layer, using a stencil map for cutting out a circle and combining it with the rest of the scene.
For the shaders issue: you’ll need quite a solid understanding of some linear algebra at least.