The Linking help menu is a separate tutorial and is not intended to be a part of the installer tutorial. Someone else was able to accomplish this however by exporting the Help Project as a *.jar file instead of following step 2 of the Linking help menu tutorial. For more information see this forum post: viewtopic.php?f=6&t=1763#p6251
With regards to the "The eclipse executable launcher was unable to locate its companion shared library" error, you need to copy the org.eclipse.equinox.launcher.win32.win32.x86_<version> directory and org.eclipse.equinox.launcher_<version>.jar jar file from your eclipse\plugins directory to your build\RCP\install-image\eclipse\plugins directory.
Also, if you are unable to launch the Contact Manager from Eclipse, open the contactmanager.product file, switch to the Configuration tab and click the Add Required Plug-ins button and Save.
Please note that Eclipse 3.4 is not officially supported until it is officially released.
Hope that helps.