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The setup you describe sounds quite reasonable. As you said, you will need to install ROS on both the Raspberry Pi and the laptop. They will talk to each other via wifi. The Raspberry Pi could talk to the arduino any number of ways, but you could start by taking a look at rosserial_arduino for some examples of getting communications up and running between Arduino widget and ROS.

You could run the ROS master (aka "roscore") on either side of the Wifi link, since you're teleoperating the robot and will be developing code actively for a while. If you eventually want to have the robot run autonomously and launch everything at power-up, many people run the ROS master on the robot to ensure that the robot's internal nodes connect regardless of the network status, but that's not terribly important when you are in the initial phases of hacking the system together.