Sorry if this has been mentioned, but during assembly, we'll usually put a dab (technical measurement
) or two of hot glue on each pool noodle to hold them in place. Really makes wrapping them much easier.
As far as attachment, we've been using the same Quick Release Pins (Similar to McMaster P/N 92384A034) for two or three years. They're a bit expensive, but work really well for us. Depending on robot weight, we'll attach the pins to the frame with a piece of string to keep them from getting lost - unless we need those precious few ounces.