Reference request: Relation between $Sp(N)$, $Spin(N)$, $SU(N)$ groups and physics [duplicate]

I want to understand the relationship of the so common $SU(N)$ and $SO(N)$ groups in physics with the symplectic group which I think is the double cover of the first and the Spin groups $Spin(N)$.

Is there a good reference, mainly for physicists.