I would say the best place to start is here: http://www.gnustep.org/developers/ You might also want to sign up for the gnustep-discuss and -dev mailing lists (http://wiki.gnustep.org/index.php/Get_Help).
As for the rest, it's pretty straight forward, you need to know Objective-C and have a FSF copyrigth assignment. I'm sure if I missed something one of the maintainers will chime in.
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