Milkweed

Milkweed shoots have grown.  Buds are opened(mostly). Now it is flower season.  Later, the pods will be forming and edible in their early stages.  Although Milkweed needs to be cooked properly, it is an important vegetable in that it is edible in several stages (while many wild edibles are only available at a short stage).
Has anyone made a meal from Milkweed?  Does anyone regularly consume?
Has anyone read Thayer's chapter on Milkweed?  If so, any thoughts?