Untested sketch: Add an udev rule like
    ACTION=="add", SUBSYSTEMS=="usb", ENV{ID_VENDOR_ID}=="XXXX", 
ENV{ID_MODEL_ID}=="YYYY", ENV{SYSTEMD_USER_WANTS}+="hp-firmware.service"

and add a /usr/lib/systemd/user/hp-firmware.service whose ExecStart= calls 
/usr/bin/hp-plugin-ubuntu if necessary. Note that you probably need some shell 
commands there, use

  ExecStart=/bin/sh -ec 'shell code here; \
      more shell code there'

for that.

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https://bugs.launchpad.net/bugs/1604890

Title:
  update-notifier-hp-firmware upstart job doesn't make sense in update-
  notifier

Status in hplip package in Ubuntu:
  New

Bug description:
  update-notifier ships a debian/update-notifier-hp-firmware.conf
  upstart job. Ideally a such job should be included in the package it's
  interacting with, hplip in this case.

  We are also converting the user session to be using systemd so
  basically it means hplip should be including an systemd user job (if
  that's still something needed)

  Doing that under systemd is probably best done using a udev rules
  triggering a systemd service

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