Is there a good text that teaches principal bundle or frame bundle?
I am looking for a textbook that might serve as an introduction to topology of principal bundles or frame bundles, specially the global frame field and the connection on them.
Currently, the only book I know of in this regard is:
"Lectures on Differential Geometry" by S. S. Chern & W. H. Chen & K. S. Lam
I have been reading it, but I am occasionally frustrated by the lack of more details on the global section on frame bundles.
Thanks in advance!