James Norton's audio book of Ulysses is superb, he really captures the beauty of the language. I'd recommend it more as an audiobook that written, at least at first, just as I'd recommend listening to Shakespeare rather than reading the text.

genius.com has an annotated Ulysses, [0] and it might be even better to listen and read at the same time.

[0]: http://genius.com/albums/James-joyce/Ulysses