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Patrick's answer is good, but also want to include a link to:
http://www.ros.org/wiki/Get%20Involved
As for the rest of the bullets:
* Is there a preferred or ROS official VCS host that we should/could be using?
We prefer hosts with the best performance and uptimes, which are probably the same criteria you would use as well.
* What are the licence requirements/guidelines? BSD/GPL/Mozilla/Apache?
BSD and Apache are generally the friendliest licenses if you wish to encourage use. We have had to do additional work on occasion to remove GPL code from libraries.
* Should we just edit the wiki to include links to our stuff, or is that frowned upon?
You are welcome to create wiki pages for your own packages/stacks. You should use discretion when editing wiki pages that aren't yours.
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