Trygve - there are a number of samples in the RDS install that you can take apart, but if you really want to get into it, Trevor's book (website - http://www.promrds.com/) is the only way to go!
Thank you for the feedback. I've tried most of the tutorials in MSRDS, but I'm still not quite where I'd like to be. I'm ordering the book as soon as I get home.
I agree that Trevor's book is the bible for RDS, CCR and DSS; but is not easy reading for the beginner as there is some assumed knowledge (e.g. he casually mentioned finite state machine programming, saying something like it was basic knowledge for any comp sci person). Microsoft also made some videos which are referenced in the help portion of RDS. If you don't have that handy, Ideal Programmer has 15 video links: http://idealprogrammer.com/videos/microsoft-robotics-development-studio-15-free-video-tutorials/ . Andreas has three on VPL.
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