I would argue that now is the perfect time to start developing for Android, if for some reason you aren't doing it yet. The recently published design guidelines from Google are clear and lay a good foundation for anyone who has struggled with figuring out how to develop and design for the OS, and also show that Google finally "gets" where their platform has been lacking so far.

The Action bar, although in a limited manner, can also be implemented in older versions of Android, so from a coding perspective, there's nothing terribly scary about it.