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In my opinion to answer the most generic question: A project is useful if someone else could get some use out of it and it's buildable/documented/generic to that point. This is a very low requirement meaning: Someone could get it to work somehow. In other words: You're free to "officially" share everything that you think is useful. It would be helpful to announce if the state is e.g. experimental, though.

Here is the usual way up:

1. Announce on ros-users with a repository, e.g. github. You can do this for almost any project.
2. Index it. Basically it will now show up in the wiki, can be easily found and documented. I would say that the project should be somewhat usable for this step, i.e. at least basically working. Should also have a proper name that doesn't collide with anything.
3. Release it. Will be build into debians on the farm and available for apt-get. For this to work it should conform to some ROS standards, be buildable out of the box, etc. ros-release is the mailing list to get help here.