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I'm almost positive that there aren't any dead-tree-based books about OpenDaylight yet. We're barely able to keep our wiki-based docs up-to-date at our current rate of change, let alone an actual book.

The OpenDaylight Technical Overview is a great place to get started. The ODL Getting Started Guide has many links to other good resources. The Inocybe blog has some up-to-date, very helpful videos on critical parts of OpenDaylight. I highly recommend checking those out.

I suggest letting your interests guide where you go to learn after that. A great way to both learn and contribute would be to do and refactor our Ping Example. I know it needs to be updated for Helium, but those changes should be pretty small and easy-ish to figure out.