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Personally, I found the book: A Gentle Introduction to ROS by Jason O'Kane to be a great starting point. It distills a bunch of the info available on the ROS wiki down to a more readable format.

The book is free for download at the author's website (currently down for maintenance?). You can also get a printed copy if you like on Amazon.

If you want more Python examples you can also check out the ROS by Example books by Patrick Goebel.

Brett

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