Some steps are missing from the Titan/Rexster docs. It's unclear how and when the titanexample DB, and following the docs as is I get:
[WARN] GraphConfigurationContainer - Could not load graph titanexample. Please check the XML configuration.
[WARN] GraphConfigurationContainer - GraphConfiguration could not be found or otherwise instantiated:.com.thinkaurelius.titan.tinkerpop.rexster.TitanGraphConfiguration
[WARN] GraphConfigurationContainer - com.thinkaurelius.titan.tinkerpop.rexster.TitanGraphConfiguration