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I found the official ROS online tutorials to be enough to get me started, but I did learn a lot more in depth stuff from reading ROS by Example. When I only use the online tutorials, I only learn things I know I need to learn because I'm trying to figure out a problem. But with the books, I learn things that I didn't know were available :)

It looks like the author has made a second edition that covers more advanced topics such as "creating URDF models" which is what your asking when you say developing a simulated robot in ROS, you might want to check that out as well.