I have a mobile robot that isn't currently supported by ROS. How should I structure the driver node(s) to expose my robot's integrated sensors and actuators?

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Should we create a wiki page with a tutorial for this answer? If so where should it be created (under the http://ros.org/wiki/Robots page)?

That seems like a good place for a link, at least. "Want to add a robot to this list? Here's how."

Great suggestion !!

I think it's hard to give a general answer. I would use a different software design for a simple robot such as a Roomba (i.e. one node per sensor) than for something like the PR2 (something like pr2_controller_manager and pr2_etherCAT).