Extract residue sequence from pdb file (in biopython, but open to recommendations)
There are other ways to do it (many and some might be easier), but if you want to do it with BioPython PDB module you can iterate the residues like this:
 # You can use a dict to convert three letter code to one letter code
 d3to1 = {'CYS': 'C', 'ASP': 'D', 'SER': 'S', 'GLN': 'Q', 'LYS': 'K',
 'ILE': 'I', 'PRO': 'P', 'THR': 'T', 'PHE': 'F', 'ASN': 'N', 
 'GLY': 'G', 'HIS': 'H', 'LEU': 'L', 'ARG': 'R', 'TRP': 'W', 
 'ALA': 'A', 'VAL':'V', 'GLU': 'E', 'TYR': 'Y', 'MET': 'M'}


 # Just an example input pdb
 record = '1pa2.pdb'

 # run parser
 parser = PDBParser(QUIET=True)
 structure = parser.get_structure('struct', record)    

 # iterate each model, chain, and residue
 # printing out the sequence for each chain

 for model in structure:
     for chain in model:
         seq = []
         for residue in chain:
             seq.append(d3to1[residue.resname])
         print('&gt;some_header\n',''.join(seq))


Not really, is very common, you can turn it off like this (taken from https://lists.open-bio.org/pipermail/biopython/2014-July/015371.html):
 import warnings
 from Bio import PDBConstructionWarning
 #your code
 with warnings.catch_warnings():
 warnings.simplefilter('ignore', PDBConstructionWarning)
 #your code which might trigger the warning
 #rest of your code here

 However, because this is so common, you can just use the
 QUIET=True option on the PDBParser object:

 from Bio.PDB.PDBParser import PDBParser
 struct = PDBParser(QUIET=True).get_structure('tmp', pdbf)



Try help(PDBParser) for more, or see:
http://biopython.org/DIST/docs/api/Bio.PDB.PDBParser%27.PDBParser-class.html#__init__