There used to be a kiosk in the Solomon Pond mall that did embroidery on site, but I can't seem to find him he might be gone. He was reasonably priced; I had quite a few logo SWAG items done.
Even though you have artwork ready to go, it needs to be entered into the embroidery machine and the setup person has to tell the machine exactly how to stitch it. It might make tacks around the borders on larger logos to keep things from shifting and scrunching and other bad things that can happen during embroidery.
The setup person will tell the machine the direction of the stitches to make it look good (it matters a lot!) and also to tell the machine how many stitches per inch (or whatever the measurement is). The more stitches in the artwork (a combination of the size and the density) the more each finished piece will cost.
I'll see if I can find the guy's name and hunt him down for ya, but it's been a few years since I had any work done.
ETA I can't find that guy, I think his name was Gerald or some such, but I did find another place in Marlboro, right on Route 20 about 3 miles east of 495
https://www.embroideryunl.com/
Can't vouch for their work, but you can take a gander around their website and/or drop in to see them if you're near rt 495 some day