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Along the same lines as "follow the Turtlebot example", I've recently created a generalized robot_upstart package to cover the upstart needs of Clearpath's Husky, Kingfisher, and Grizzly products. Please check it out here:
https://github.com/clearpathrobotics/robot_upstart
It should also work for Turtlebot, if the Turtlebot maintainers are interested in switching to it. Apart from not being hard-coded to a specific robot name, package, or user, it's otherwise very much a clone of what Turtlebot does.
There will be a page on the ROS wiki shortly; the automatic spider has not yet created the stub for me to populate.
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