Here is a guide to add the Open Terminal Here option to your file menu.
After adding this option you can open a terminal window anywhere you want, just click your right mouse button and select the option from the Nautilus-Actions actions menu.
To add this option you first need to install the Nautilus actions config tool, to install it open a terminal window (press Ctrl+Alt+T) and copy+paste the following line:
sudo apt-get install nautilus-actions -y
To start the Nautilus actions config tool copy+paste the following line:
nautilus-actions-config-tool
To add the menu item click on the Divine a new action button and select the Actions tab. Enable the Display item in location menu option and in the Context label field copy+paste the following line:
Open Terminal Here
Enable Display item in the toolbar.
Copy+paste the following line into the Tooltip field:
Open Terminal Here
Set icon (optional): Icon -> Themed icons tab -> Click Applications -> Select terminal icon -> click Apply -> click OK
Click on the Command tab and copy+paste the following line into the Path field:
gnome-terminal
copy+paste the following line into the Paramters field:
Parameters: --working-directory=%d/%w
When done save the action and close the config tool and reload Nautilus using the following command:
nautilus -q
When Nautilus is restarted you can close the terminal window.
To open a terminal anywhere you want using the file menu just right click your mouse on your desktop or in an open folder and select the Open Terminal Here option from the Nautilus-Actions actions menu.