Happy to give another plug to "Prehistoric Rock Art of the West Riding"
http://www.arch.wyjs.org.uk/AdvSrv/Newsletters/News170305.pdf
The stuff I've been posting recently was from 2000 on a visit using the small guide from the Tourist Info. Better than nothing but confusing. I thought I was at Barmishaw and I was actually at Willy Hall Wood. Had to relabel several of my slides once I'd got the book.
One small criticism, in the more densely decorated areas, such as around Ilkley, the map scale is not detailed enough.