Beginning MapServer: Open Source GIS Development (Expert's Voice in Open Source) (Volume 0)
Bill Kropla
This is an excellent hardcopy reference to MapServer, As others have noted, it is five years out of date, which can be confusing. For instance, a map document now requires an explicit MAP block containing the entire data and security fixes have broken some of the reference paths. Setting up the server is not covered in depth, and translating the examples to the MS4W world again can be confusing for the neophyte.
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The book removed at the request of the copyright holder.