Run in a terminal window the two commands

sudo alien -ick openprinting-gutenprint-5.2.4-1lsb3.2.i486.rpm
sudo alien -ick openprinting-gutenprint-5.2.4-1lsb3.2.x86_64.rpm

One of them will immediately give an error message and the other will
actually do something, taking some time to do its work. Note that for
the first command to start you have to enter your password when you are
asked for it.

After having done so, choose

System -> Administration -> Printing

in the menus. Right-click your printer's icon, choose "Properties" in
the pop-up menu, then click "Change" in the "Make and Model:" line.
After some time a dialog will pop up. Choose your printer's manufacturer
("Epson"), click "Forward", and then your printer's model ("Stylus
S20").  Then on the right there will be a list with the available
"Drivers". Choose an entry containing "OpenPrinting" there. Click
"Forward" and then "Apply".

Try to print now. Does it work?

-- 
Epson inkjet printer does not work on 10.04
https://bugs.launchpad.net/bugs/576705
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