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I suppose you want to have certain knowledge where you are able to understand and code some basic actions and control for your robot such that it meets your requirement for the time being as you have to get something built up quickly for your project, later to which you could build up on the basics you would have gathered.

Being specific to Turtlebot 3, you can try the ROS development studio and its tutorials which give you a fair idea to get started with (coding and code manipulation) dealing with basic movement to creating launch files and nodes quickly.

Also, there are many tutorials from The Construct concerning ROS dev studio that give a clear idea to how it's done. Meanwhile, you could refer this which is pretty good enough compared to bulky ROS books. Besides, instead of paying for tutorials, the same are available on Youtube.

On the other hand, with this material you can petty much decide which would suit your feasibility such as using Python or C++ in ROS.