Sort of. Paul Wilson took most of the content and put it on the DVDs, but he missed out a few of the tricks, and included some more modern ideas.
I would definitely recommend getting the book, even if you already have the DVDs. For one thing, you may like some of the items that he didn't include, or prefer to construct your own presentations without the distraction of watching how he performs the pieces. Plus, Royal Road is a classic of card magic, and I think it woudl be difficult to attain the highest level of card mastery if you didn't have at least a passing acquaintance with the text.