I am a computer graphic artist by trade and one thing I have encountered quite frequently in print, no matter the format, is that what you send to the printer will always come out darker, period. I would cringe as I would lighten my final art until it looked somewhat crappy on my monitor, yet when it was printed on posters, books, shirts etc it would come out perfect.
Typically speaking, graphic designers and artists who work in print regularly use color calibrators and will also set their monitors colors and brightness via software settings to more accurately reflect what their prints will look like. You can then save these custom color settings and switch to them when you want to save some work for print. Because I mainly do graphics for web, I usually run in standard srgb profiles etc.
Windows 7/right click desktop/screen resolution/advanced settings/color management/advanced - or open the video driver control panel that runs with your video card and adjust in there, for example Nvidia.
Mac OS 10.4/System Prefs/Displays/Color/Calibrate.
Printers, video cards, monitors, etc all vary greatly. Now that you know that your work comes out darker you can adjust it lighter and know it will come out as you want it. It is a bit of a pain but that is the reality of non 3d printing.