1) Follow this howto: 
http://www.debuntu.org/how-to-wifi-roaming-with-wpa-supplicant/
     2) change the config file to set the gid of the control interface 
and make yourself a member of this group,
     3) then install wpa_gui

     This is a modular set up which involves the traditional ifupdown 
mechanism, and in which wpa_supplicant is running in daemon mode and 
wpa_gui is a graphical config helper for it. If you also want some 
roaming for Ethernet, then you also need ifplugd. wpa_gui is provided 
upstream together with wpa_supplicant, but some people dislike it 
because it is based on Qt.

     If you prefer to completely bypass ifupdown and 
/etc/network/interfaces, and integrate all in one app, then I understood 
netman is doing what you want; AFAIU, netman is the daemon and it 
invokes wpa_supplicant in non-daemon mode.

     I don't know where wicd is in this plot.

     Didier