Assuming you have been involved in an open source project (GPL'ed) that has been around for as long as 5-10 years, during this time it has been fairly successful - despite a good handful of commercial/proprietary alternatives.
Now, you've come to realize that the long term contributors would like to leverage the project commercially, possibly even in order to make a living or start a company based on it. So that they can exclusively work on it, without depending on other, unrelated, work.
So, what are some of the viable and recommended steps to turn an open source/GPL project into a commercial "success" (in the sense of self-sufficiency), so that long term contributors may preferably be paid to work on the project, without affecting the open source nature of the project itself?
In other words, what are generally some of the more common revenue-creating mechanisms for open source software, and how can these be successfully introduced/implemented - also, what prerequisites/conditions apply?