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If you write your ROS 2 node(s) using rclpy, then all ROS based communication (ie: publishing, invoking services and sending goals to action servers) will be using whichever RMW (ROS MiddleWare abstraction) is active.
In the default configuration, that would mean a DDS implementation, which by default is Fast RTPS.
As to tutorials/documentation: index/ ROS 2 Overview > Tutorials > Writing a simple publisher and subscriber (Python) should help you get started.
Other Python examples may be found in ros2/examples. There's also the ros2/demos repository which contains Python examples.
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