Instale os pacotes de drivers de impressora comuns no Ubuntu:
sudo apt-get install cups-client cups-common cups-daemon cups-filters cups-ppdc cups-server-common debconf ghostscript libavahi-client3 libavahi-common3 libc-bin libc6 libcups2 libcupscgi1 libcupsimage2 libcupsmime1 libcupsppdc1 libgcc1 libstdc++6 libusb-1.0-0 lsb-base poppler-utils procps
Em seguida, use a impressora com o aplicativo system-config-printer-gnome