Yay for learning recorder, you should definitely do it. :D
In answer to your question, it depends what you mean by playing baroque music. There are a lot of really elementary baroque music books out there. I have Songs and Dances of the Middle Ages
(ok, that's earlier than what you're asking about) and a few others. It seems like every time I look in the recorder sheet music section of a music store there are tons of books like that. I imagine that if you are already familiar with music, you could teach yourself recorder with just a fingering chart and one of those books, they're that simple.
Unfortunately I don't know anything about SCA, but I have played in chamber music groups before. I had been playing recorder on and off for a few years before I got involved, but I imagine a few months of consistent practicing would be enough experience for a low level chamber group.
Also, each big city should have some sort of recorder or chamber music group that accepts people of all levels, so you could try looking that up.