No I don't think you can ever be perfectly ready.
What's useful IME is working out some concrete things you want to have in place first so you can work towards those, especially if it's quite easy to work out how long they will take. Make sure you quantify them so rather than "Have some savings" "Save X amount", or instead of "Have more spare income" use "Have £X in disposable income every month" or instead of "Improve career", "Get X qualification, Have X years' experience in current position" and then you can work out a plan for how you're going to do it. Moneysavingexpert is good for help reducing debts. And remember that there are two categories of debt - debt which you can attribute to a specific event or purchase is fine and healthy debt which you can manage, debt which is just "to clear off a card" or "I don't know what we spent that on" or "to make ends meet" is unhealthy debt and you should try and look at your spending first and foremost. If you really struggle with budgeting YNAB is really really good.
Also having two different dates, if you like - one which would be "the earliest point that it wouldn't be a disaster" and one which would be "Much better timing". You can come off birth control but not really try too hard after the first date (or 9 months before the first date!) but start to give it some proper effort with timing and tracking and things from the second date. Keeps things relaxed, means you don't obsess over it happening straight away because it wouldn't necessarily be ideal anyway, and as a bonus, if things do take longer than expected you've then got a headstart as you can go and say to your doctor "We've been trying for X months and nothing has happened".
Financially - we basically made sure we weren't drowning, but it's not like we have masses of savings. We did have a cheeky look in Mothercare and test drive a few buggies and things so we could get a very rough idea of what kind of price range the things we liked were, though we didn't look specifically at models, and what kind of range the essentials are and added it all up. Of course if we were shopping for real then we'd look around for bargains etc. Then you might want to add some figures for things like childcare, lost earnings etc if you want to get yourself a figure to aim for savings wise, remembering that some of the costs will be monthly so if you can get some debts gone or reduced in the short term you'll have more spare cash later. Remember you can buy a lot of the big things second hand too to reduce costs if you're adding up and going 
.
I don't think it's that important to be flush financially or totally stable and you can definitely put it off too long waiting, but if there's anything you can pay down now, do it, if there's anything you can do to boost earnings career wise first, do it, any projects which might turn out to leak money etc etc, you've got it, do it now! Having a baby is tough financially because it's a double edged sword, they cost you money and they constrain your earning power. But at the end of the day they come along and they just have to fit in so you'll manage, either way, it's just a case of how comfortable you want to be.