This paper studies output synchronization and regulation problem for heterogeneous networks of introspective right-invertible agents with uniform constant communication delay. A decentralized design based on shaping the agent dynamics using their self-knowledge and structural properties is developed. In the output synchronization problem, the proposed controller design tolerates arbitrary bounded communication delay and large network uncertainties. In the output regulation problem, it requires relative output measurement of the exosystem only in one agent. Moreover, the design method can also be applied to formation control problems.