How to Add an Application to the Ubuntu Launcher

Start by copying one of the other *.desktop files inside the /usr/share/applications/ directory.
Give it the name <YOUR_APP>.desktop
Then open it up and edit the following lines as shown:

Name=<YOUR APP>`
GenericName=<YOUR APP>
Comment=<COMMENT ABOUT YOUR APP>
Exec=</PATH/TO/YOURAPPS/EXECUTABLE>
Icon=</PATH/TO/YOURAPPS/ICON.png>
Terminal=<true/false>
Type=Application
Categories=Utility;
StartupNotify=<true/false>