add a section on building to README

Makefile

@@ -56,7 +56,7 @@ define BUILD_APPIMAGE
     export TAG_NAME=$(TAG_VERSION); \
     cd packaging/appimages && \
     mkdir -p deploy && \
-    rm -f deploy/$(1)* && \
+    rm -f deploy/*$(2)* && \
     appimage-builder --recipe $(1)-$(2).yml
 endef
 

README.md

@@ -47,48 +47,36 @@ The following attributes are available for `viam:universal-robots` arms:
 }
 ```
 
-### Test the module
-
-Before testing the module, make sure that your machine is connected to the Viam app, displaying as **Live** in the part status dropdown in the top right corner of the machine's page.
-
 ### Interacting with the Arm
-Once the module is working you can interact with your Universal Robots arm in a couple ways:
-- You can view data from and manipulate your arm live on the **CONTROL** tab of the Viam app.
+First ensure that your machine is displaying as **Live** on the Viam App. Then you can interact with your Universal Robots arm in a couple ways:
+- To simply view data from and manipulate your arm, use the **CONTROL** tab of the Viam App.
 For more information, see [Control Machines](https://docs.viam.com/fleet/control/).
 - More advanced control of the arm can be achieved by using one of [Viam's client SDK libraries](https://docs.viam.com/components/arm/#control-your-arm-with-viams-client-sdk-libraries)
 
-### Locally install the module
-TODO
-
-<!-- If you are using a Linux machine, and do not want to use the Viam registry, you can download the module AppImage from our servers directly to your machine:
+## Building and Running Locally
+Clone this repository to your machine and from the newly created folder start a new Docker container using the following commands:
 
 ```
-sudo curl -o /usr/local/bin/viam-camera-realsense http://packages.viam.com/apps/camera-servers/viam-camera-realsense-latest-aarch64.AppImage
-sudo chmod a+rx /usr/local/bin/viam-camera-realsense
+docker pull ghcr.io/viam-modules/universal-robots:amd64
+docker run --net=host --volume .:/src -e APPDIR='src' -it ghcr.io/viam-modules/universal-robots:amd64
 ```
 
-If you need the AppImage associated with a specific tag, replace `latest` in the URL with the tag version, i.e. `0.0.X`.
-
-Then, follow the instructions to [add a local module](https://docs.viam.com/registry/configure/#add-a-local-module) to add the local instance of the `realsense` module to your machine.
-Provide an **Executable path** of `/usr/local/bin/viam-camera-realsense` when adding the module.
-
-Or, if you aren't using the Viam app to manage your machine's configuration, modify your machine's JSON file as follows to add the `realsense` module to your machine: 
+Once inside the docker container build the binary using:
 
 ```
-"modules": [
-    {
-        "type": "local",
-        "name": "intel",
-        "executable_path": "/usr/local/bin/viam-camera-realsense"
-    }
-],
-``` -->
-
-## Building the module
-TODO
+cd src && make appimages
+```
 
-## Integration Tests
-TODO
+Then, follow the instructions to [add a local module](https://docs.viam.com/registry/configure/#add-a-local-module) to add the local instance of the `universal-robots` module to your machine.
+Provide an **executable path** pointing toward the appropriate AppImage file which will have been created within the `packaging/appimages/deploy` subdirectory.
+
+> [!NOTE]  
+> Simply running `make` instead of `make appimages` is a faster way to build but creates an executable that must be run from within the Docker container.  If you are interested in making and testing many quick changes to this module it will likely be faster to ony build this way and then run `viam-server` from within the Docker container, pointing to a config file that has a local instance of this module wih an **executable path** of `src/build/universal/robots`.  To download `viam-server` this way run 
+> ```
+> wget https://storage.googleapis.com/packages.viam.com/apps/viam-server/viam-server-stable-x86_64
+> chmod +x ./viam-server-stable-x86_64
+> ./viam-server-stable-x86_64 -config {PATH_TO_VIAM_CONFIG}
+> ```
 
 ## Known supported hardware
 TODO
@@ -99,9 +87,6 @@ TODO
 ## Troubleshooting
 TODO
 
-## Using with a Frame System
-TODO
-
 ## Remaining TODOs
 - configurable logging https://www.boost.org/doc/libs/1_84_0/libs/log/doc/html/log/tutorial/trivial_filtering.html
 - configs

packaging/appimages/universal-robots-aarch64.yml

@@ -35,6 +35,7 @@ AppDir:
   runtime:
     env:
         AIX_TARGET: usr/bin/universal-robots
+
 AppImage:
   arch: aarch64
   comp: gzip

packaging/appimages/universal-robots-x86_64.yml

@@ -36,6 +36,7 @@ AppDir:
   runtime:
     env:
         AIX_TARGET: usr/bin/universal-robots
+
 AppImage:
   arch: x86_64
   comp: gzip