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My personal experience in building a simple two wheel robot (and also learning ROS): http://answers.ros.org/question/12599/ros-beginning#18583
Perhaps for your case, looking at the turtlebot code would be useful. It has a follower program as well: http://www.ros.org/wiki/turtlebot_follower/Tutorials/Demo
Most of the component APIs listed here: http://www.ros.org/wiki/APIs have very detailed tutorials. Where things are hazy for me, I look at the turtlebot codes to see how it translates into a real robot.
I'm using turtlebot as reference, only because I have one that I can dissect for learning. Also, the tutorials are more complete for turtleBot. It is easier to trace codes when you see what nodes are launched specifically.
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