German Larrain  committed 38111e4

doc: modified heavily INSTALL.txt to bring it up to date.

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-(If your OS is Ubuntu, follow the instructions in "ARS installation - Ubuntu.txt", for an easier process that deals with requirements too)
+Detailed instructions for installation of ARS and its requirements are available
+in the online documentation [1].
-To install the software (only the "ars" package is part of the installation; docs, tests and demos are not), you need to:
+ARS itself is really easy to install :) but some of its prerequisites
+are not :( , depending on which operating system is used.
+The best option is Ubuntu, specially its 12.04 (i.e. Precise Pangolin)
+version. For that, follow the instructions in [2]. If you have another version
+of Ubuntu, steps may be the same or very similar. For other Linux distros, the
+steps regarding ``apt-get`` will probably change.
-1) check & install the requirements listed in README.
-2) open a command window, with the current directoy set to the project main directory
-3) execute the (included) standard python setup script (you may need administrator privileges):
-	python install
+Microsoft Windows is the OS less friendly to ARS, as well as to many other open
+source software. Nonetheless, it is very popular so we got it to run there too,
+for both XP and 7 (Vista untested). Read the corresponding section in [3].
-Start the Python interpreter (with the command "python") and execute this statement:
-	import ars
+ARS has not been tested on Mac OSX but it should work fine because all the
+required software has been reported to run fine on it. ARS itself is pure Python
+and OS-agnostic thus possible issues will be related to the requirements [4].
+Installation steps
+(Note: only the "ars" package is part of the installation; docs, tests and
+demos are not, although they are included in the archive file)
+To install ARS , you need to:
+1) check and install the requirements listed in the documentation.
+2a) If you have pip installed, you only need one command to get the package from
+the internet and install it in your system:
+	$ pip install ARS
+2b) If you don't have pip, open a command window, change the current directoy
+to the project main directory and execute the (included) standard Python setup
+script (you may need administrator privileges)
+	$ cd ARS-03
+	$ python install
+Test installation
+Start the Python interpreter (with the command "python")
+	$ python
+and import the package
+	>>> import ars
+You may explore the contents of the package with
+	>>> help(ars)
 If no errors appear, you are all set.
-You may explore the contents by entering "help(ars)".
-To exit the interpreter, use "quit()".
+To exit the interpreter, use "quit()" or Ctrl+D.
-To run a demo, execute any file in the "bin" subfolder, such as:
-	python bin/
-	python bin/IROS/
+Run demos
+To watch ARS in action, run any file in the "demos" subdirectory, such as:
+	$ python demos/
+	$ python demos/IROS/
-For epydoc, see ./docs/epydoc
-For sphinx, see ./docs/sphinx
+Build documentation
+Sphinx is used to build the documentation. Most common output is HTML but a PDF
+file can be generated through Latex. A makefile is included.
+	$ docs/sphinx
+	$ make html
+	$ make latexpdf
+Note: in the past, epydoc was used. It may still possible to generate the
+documentation with it. For that, read the contents at docs/epydoc.