In Jaunty these printers (I tested with LaserJet 1020) and after once
running "sudo hp-plugin" as described earlier here it works perfectly.
The firmware gets automatically loaded into the printer whenever one
plugs it in or turns it on (the transfer is indicated by blinking lights
and the noise of rotating the mechanics). Note that the firmware
transfer is delayed 3 seconds after connecting to avoid interferences
with the power-on procedure of the printer. After that printing works
perfectly with both drivers: foo2zjs or HPIJS with plug-in (the
proprietary plug-in is downloaded and installed together with the
firmware file).

If you have an HP printer set up by Jaunty but not working, have a look
into the hp-toolbox (can be started by the right-click menu of the HP
icon in the system tray). If there is an icon "Install required plug-in"
on the "Actions" tab a plug-in, like a firmware file or a proprietary
extension to HPIJS is needed. Clicking the icon runs "sudo hp-plugin".

-- 
[Feisty, Gutsy] MASTER: HP LaserJet 1000/1005/1018/1020 don't work because of 
missing firmware
https://bugs.launchpad.net/bugs/96454
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