I found the answer. I checked "apt" history log in /var/log/apt and
discovered that when I executed the "apt-get install ubuntu-desktop",
the "ubuntu-desktop" package installed many cups packages (see below).
These installations fixed whatever problems cups had previously. Wish
someone could have just told me about this simple solution to fixing
cups.

Start-Date: 2017-02-25  19:10:43
Commandline: apt-get install ubuntu-desktop
Requested-By: sunbear (1000)
Install: python3-pexpect:amd64 (4.0.1-1, automatic), hplip-data:amd64 
(3.16.3+repack0-1, automatic), libqpdf17:amd64 (6.0.0-2, automatic), 
liblouisutdml-data:amd64 (2.5.0-3, automatic), printer-driver-splix:amd64 
(2.0.0+svn315-4fakesync1, automatic), bluez-cups:amd64 (5.37-0ubuntu5, 
automatic), printer-driver-hpcups:amd64 (3.16.3+repack0-1, automatic), 
printer-driver-postscript-hp:amd64 (3.16.3+repack0-1, automatic), 
libsnmp-base:amd64 (5.7.3+dfsg-1ubuntu4, automatic), 
python3-reportlab-accel:amd64 (3.3.0-1, automatic), ubuntu-desktop:amd64 
(1.361), printer-driver-pxljr:amd64 (1.4+repack0-4, automatic), 
cups-server-common:amd64 (2.1.3-4, automatic), ssl-cert:amd64 (1.0.37, 
automatic), python3-renderpm:amd64 (3.3.0-1, automatic), cups-filters:amd64 
(1.8.3-2ubuntu3.1, automatic), libsnmp30:amd64 (5.7.3+dfsg-1ubuntu4, 
automatic), libcupsmime1:amd64 (2.1.3-4, automatic), hplip:amd64 
(3.16.3+repack0-1, automatic), liblouisutdml6:amd64 (2.5.0-3, automatic), 
libhpmud0:amd64 (3.16.3+repack0-
 1, automatic), printer-driver-gutenprint:amd64 (5.2.11-1, automatic), 
libfontembed1:amd64 (1.8.3-2ubuntu3.1, automatic), libgutenprint2:amd64 
(5.2.11-1, automatic), liblouisutdml-bin:amd64 (2.5.0-3, automatic), 
libsane-hpaio:amd64 (3.16.3+repack0-1, automatic), qpdf:amd64 (6.0.0-2, 
automatic), cups-filters-core-drivers:amd64 (1.8.3-2ubuntu3.1, automatic), 
python3-ptyprocess:amd64 (0.5-1, automatic), cups-core-drivers:amd64 (2.1.3-4, 
automatic), cups-daemon:amd64 (2.1.3-4, automatic), python3-reportlab:amd64 
(3.3.0-1, automatic), cups:amd64 (2.1.3-4, automatic), libcupscgi1:amd64 
(2.1.3-4, automatic), cups-browsed:amd64 (1.8.3-2ubuntu3.1, automatic)
Remove: foomatic-filters:amd64 (4.0.17-8)
End-Date: 2017-02-25  19:11:16

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https://bugs.launchpad.net/bugs/1661287

Title:
  Canon printer failed to connect with CUPS

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