Just for a bit of balance, another book I bought was the ZYNQ book and companion materials. It's made by a university in collaboration with Xilinx. They don't hide that because it's niche and low volume, they used a print-on-demand service. I even went and looked them up, and it's a small UK printer with pretty reasonable pricing for self-publishing small runs of books. The quality was great, no problems with it at all. So it /can/ be done.