I confirm this bug on Natty 11.04 amd64 with a HP LJ P1006.

The problem is that the udev script which is supposed to load the
printer plugin automatically) is removed after a printer restart (eg.
/etc/udev/rules.d/86-hpmud-hp_laserjet_p1006.rules)

[[
$ sudo hp-plugin -i
$ ls /etc/udev/rules.d/86-hpmud-hp_laserjet_p1006.rules
/etc/udev/rules.d/86-hpmud-hp_laserjet_p1006.rules
# Restart the printer here and wait a few seconds
$ ls /etc/udev/rules.d/86-hpmud-hp_laserjet_p1006.rules
ls: cannot access /etc/udev/rules.d/86-hpmud-hp_laserjet_p1006.rules: No such 
file or directory
]]

BTW as a workaround to force the printer to reload its firmware instead
of running hp-plugin I noticed that running the following command was
enough:

 sudo hp-firmware -n

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https://bugs.launchpad.net/bugs/789094

Title:
  [natty] HP Laserjet P1006 cannot print

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