Add .urcap installation tutorial (#6)

* Add step-by-step tutorial for .urcap installation

We'll use Github's *Releases* to manage different versions.

Author: stefanscherzinger

README.md

@@ -3,17 +3,24 @@ Package to support relaying the RS-485 communication device in a UR robot to a r
 
 Basically, this starts [`socat`](https://linux.die.net/man/1/socat) to relay the tool communication device to the network socket on port 54321.
 
+## Installation
+First, you need to put an `RS485 URCap` into the `programs` folder of your e-series robot.
+You'll find the latest version [here](https://github.com/UniversalRobots/Universal_Robots_ToolComm_Forwarder_URCap/releases) in the *Releases* section.
+Copying can be done either via `scp` or via using a USB stick.
+Next, go through [these steps](doc/install_urcap.md) to install the URCap in Polyscope.
+
+
 ## Usage
-Once the daemon is started, connect to the socket from a remote machine, also using `socat`:
+Once the daemon is started in Polyscope, establish the connection from a remote machine, using `socat`:
 ```bash
 # Setup your robot IP here:
 export ROBOT_IP=192.168.56.101
-# Setup the device name that should be available locally. Make sure that your user can write to that location.
+# Setup the name for the device you wish to create. Make sure that your user can write to that location.
 export LOCAL_DEVICE_NAME=/tmp/ttyUR
-socat socat pty,link=${LOCAL_DEVICE_NAME},raw,ignoreeof,waitslave tcp:${ROBOT_IP}:54321
+socat pty,link=${LOCAL_DEVICE_NAME},raw,ignoreeof,waitslave tcp:${ROBOT_IP}:54321
 ```
 
-After that you should be able to use the device under `${LOCAL_DEVICE_NAME}` just like any local RS-485 tty device.
+After that you should be able to use the device under `${LOCAL_DEVICE_NAME}` (in our case `/tmp/ttyUR`) just like any local RS-485 tty device.
 
 ## Use inside a ROS application
 The [`ur_robot_driver`](http://wiki.ros.org/ur_robot_driver) has a [convenience script](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/scripts/tool_communication) wrapping the above `socat` call. When running the driver, the e-Series launchfiles provide a [flag](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/launch/ur10e_bringup.launch#L14) for automatically activating the tool communication. The launchfiles also allow setting up communication parameters on the robot directly.

doc/install_urcap.md

@@ -0,0 +1,31 @@
+# How to install the RS485 URCap
+
+This is a short step-by-step guide how to install the RS485 URCap in Polyscope.
+We assume that you [copied](../README.md#installation) the latest *RS485 URCap* from [here](https://github.com/UniversalRobots/Universal_Robots_ToolComm_Forwarder_URCap/releases) to the `programs` folder of your e-series robot.
+
+## Add the URCap to the system
+After startup of the robot, click on the `hamburger` menu item at the top right of
+the screen and select `Settings`.
+
+![here](./resources/install_1.png)
+
+In the menu on the left, go down to `System` -> `URCaps` and click the `+` button to add a URCap to the system.
+Choose the RS485 URCap file you previously copied to the robot's `programs` folder and open it.
+
+![here](./resources/install_2.png)
+
+Your display should show the `rs485` under `Active URCaps`.
+
+![here](./resources/install_3.png)
+
+You now need to restart Polyscope for the changes to take effect.
+
+## Confirm the installation
+After restarting and coming back to this page, you should see the `rs485` URCap marked with a green check.
+
+![here](./resources/install_4.png)
+
+Finally, under the `Installation` tab, confirm that the RS-485 daemon runs.
+
+![here](./resources/install_5.png)
+