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At first I had that problem, people stopping by in the middle of the day because they thought 'working from home'/'self employed' was a pseudonym for early retirement. I have since created solid work hours (9:30-6:30ish) that I treat just like working for an employer. My family knows that within those hours I am as available/unavailable as I was when I worked for a corporation. I find that this puts me back on the same page as the rest of the world so during the evenings I am no longer running off to check up on something and whoever I am with has my full attention.

you need a work space and the understanding that no one can disturb you when the door is closed or your headphones are on.

I'm married (plus four young kids), and I work from home and I love it. My current contract allows me to work only four days a week (30 hours), and the remainder of the week goes to the family. No travel time, no meetings, plus I'm here if needed and the hours are flexible.