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There are some pointers for getting involved here: http://www.ros.org/contribute/ and some more detailed pointers here: http://wiki.ros.org/Get%20Involved

If you can find some ROS packages that you use, I'd suggest looking at open tickets for it, or consider identifying a new feature you'd like to see and submitting a pull request to make the change. If you start with small things you can get feedback during the review process and work your way up to larger changes.