I had this same problem with Gutsy, and have now fixed it on Hardy and
Gutsy.

The Device URI that is selected when the printer is autodetected is
hp://usb/hp_color_LaserJet%202500?serial= and then a long number.

Replacing this URI with:

hal:///org/freedesktop/Hal/devices/usb_device_3f0_717_999999996434_if0_printer_noserial

makes the printer function perfectly.
I found the above URI by randomly installing and uninstalling anything I could 
to get it to work originally, and this was one setting that came up.

With a plain install of Hardy on my laptop, letting the computer detect
the printer and then just changing the URI to the one I discovered on my
desktop, it worked first time.

If there's any other info that might be helpful to someone to understand
why this worked, please let me know.

Iain

-- 
HP 2500 Laserjet "may not be connected"
https://bugs.launchpad.net/bugs/235957
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