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If you want to publish your package for other developers in the community to use and contribute to, the first thing to do is to make the source code freely available for download. If you don't already have version control, https://github.com is usually a good choice. The recommended repository useage page on the wiki has some good guidelines on how to use github effectively with ROS.
Once you have your package available for download, the next step is to add it to the repository index and create a wiki page with some basic documentation about how to use your package.
The Getting Involved page on the wiki has some more general information about participating in the community that you may find interesting as well.
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