Modern translations (written in the last 30 years, say) are way way better than the public domain editions, not least because they don't have puritanical Victorians editing out all the "scandalous" bits.
He was an undaunted explorer and traveled widely and spoke 29 languages. He wrote extensively, but sadly his widow considered some of his papers too explicit to be published after his death and instead destroyed them.
His search for the headwaters of the Nile are the basis for the film Mountains of the Moon . See .
 Historical Badass: Explorer Sir Richard Francis Burton