check out Radiantec online. Good website, lots of info. I purchased a system from them couple of months back. Pex, manifolds, pump, shipping, etc. came to $2,500 for a 1300 sqf slab. I first put down plastic, then 2" pink foam $20 per sheet at Menards. Used staples to hold the pex to the foam, rebar on top of risers, then cement. Still holding together after 2 months...

I ran the 2" foam from the bottom of slab up the side along my 8" block to the osb wall. I started to dig down a couple of feet below the slab so I could run the foam deeper, but did not like the dirt falling out from under the slab. Figured I might be doing more harm then good. Entire slab is then encased in the 2" foam, so should be good, i think...