Has anyone done this themselves? What tools did you need?

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Booster install tool,it flares the end of the booster and holds it tight to the main body.
Check out this item I found on eBay: http://pages.ebay.com/motors/link/?nav=item.view&id=331368669867&alt=web

With the proper tool its so easy to do them. If you have the proper tool its quick and easy. If you cant justify the price of the tool you might find a racer who has one and will do yours semi cheap.

Mine looks nearly exactly like the one in the link.

Last time I checked alot of the shops wanted $30 per booster.

With a Dominator it is just a matter of pulling out the stake tubes, this can be done with a slide hammer, I have a home made puller I use after threading the stake tubes. BLP sells new stake tubes.

A 4150 has to have the boosters swedged in, flared similar to a flaring tool. BLP sells both a hand held tool as well as a mill mount, I have both and both work fine, the mill mount is a tad cleaner on the finish and quicker. I'm sure you could make something in a pinch if you had to, but if you plan do do a bunch the proper tool is the best. There is a home made one in the link below.
http://racingfuelsystems.myfunforum.org/viewtopic.php?f=25&t=824&p=7673