Some context (because it's been 3 years already!) :
Cancer diagnosis: https://news.ycombinator.com/item?id=11520888
I found this book a great introduction to MQ and distributed computing in general. I didn't read cover to cover but I remember reading around 2/3rds of the book and didn't find it super hard to follow even though I did have to reread some sections. Also I must mention I was implementing a toy ZeroMQ project while I was reading the book.
I never used ZeroMQ much but it taught me a lot of the language around distributed and high-concurrency systems and problems that come up.
Typically software infrastructure like 0MQ, ext2fs, Valgrind, HotSpot, and gzip takes about a decade to get good, remains optimal for a decade or two, and remains relevant for half a century after that. A couple of years is not a long time.
I think it took me an hour or three to get some benchmarking programs running when I first encountered it, but that was mostly because I was using the documentation for the wrong major version. So I don't think it's such a big hassle. I definitely continued to learn important things about it for months, though.
It's definitely not a message queuing system like RabbitMQ, though. It's something much simpler and more general.
If you decide to use ZeroMQ be prepared to spend many hours reading the docs and designing the architecture you desire with the building blocks ZMQ provides. Also be prepared to build out wrappers for your developers to use so they have a simplified API to deal with.