honestly I thought the same way as you before, like I was figuring well I'll wait until I am getting x # of visitors a day to a site before I put ads on it, but then I just decided to do it and in the beginning even with low traffic I made enough to cover my monthly hosting (at that time I was on a $10/month shared hosting plan) which was kind of cool, it has grown steadily since then. I would say as long as you don't overdo it with the ads (meaning don't put several on each page) you should go ahead and do it from the beginning.
I typically only put 1 or 2 ads on a page, I think it looks spammy beyond that but others will disagree.
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