"gutsy (up-to-date as of 24h ago)" (so not older than Oct 4 2007) should
have system-config-printer and haƧ-cups-utils installed by default. And
with these two the steps I have shown should work.

Only exception is Kubuntu Gutsy. The KDE edition uses the KDE Printing
Manager by default and does not create print queues by itself.

If you do not use Kubuntu, do

sudo apt-get install hal-cups-utils system-config-printer

or better the correct one of

sudo apt-get install ubuntu-desktop
sudo apt-get install xubuntu-desktop
sudo apt-get install edubuntu-desktop

to assure that all default packages are installed.

Make sure you got the latest fixes with

sudo apt-get update
sudo apt-get dist-upgrade

Now on a non-Kubuntu system you should get your printer automatically
set up if you turn it off and on again. On Kubuntu start the KDE
Printing Manager and set up the print queue with it. Important is that
you use the HPLIP device (can be in a section like "Other" or "Misc").

-- 
(/usr/lib/cups/filter/pstoraster) crashed on signal 9!
https://bugs.launchpad.net/bugs/149459
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