I've been working with Gary Willis' Fingerboard Harmony book. The book is really good, but work along with the CD because playing at the tempos on the CD has improved my playing in general because of the fast tempo you work at.
The book has exercises for 4,5 and 6 string basses so you won't play through all the exercises on the CD unless you have all 3 types of basses.

The CD contains 99 tracks, but I've only gotten to about track 27 (IIRC) working with a 4 string and using the book for the last couple of months.
This book will help you memorize chord tones, and help you learn to read sheet music (no tab). So far the exercises seem focused on ii-V movements but I'm barely into the book so far so I couldn't tell you what comes later.