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When I type lsusb I can see the USB is showing as connected to Canon. However when I do lpr print.pdf it doesn't print anything at all.

How can I fix it so that I can print using the command lpr?

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You will need to define/setup the printer on your system. Which version of Linux are you actually running as your tags mention three different types – Linker3000 Jul 14 '11 at 16:02
    
@Linker3000: Fedora 15 is base. And virtual box i am using Ubuntu (Seamless mode) + CentOS (resize mode) + FreeBSD (resize mode). But none can detect. – YumYumYum Jul 14 '11 at 16:05
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Did you tried to use CUPS??? cups.org/documentation.php/overview.html – Diogo Jul 14 '11 at 16:16
    
Indeed, CUPS is probably all you need. – Doc Jul 14 '11 at 16:38
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up vote 1 down vote accepted

I would try to use CUPS to manage printer, driver and documents, if something wrong continues to happend, so you would investigate for specific problems (such as printer device, printer driver, or even if your linux is sending the correct parameters for your printer).

I hope CUPS will solve your problem. Good look, and dot forget to post yor results here :D

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