Printing to a printer connected to a wireless router

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http://askubuntu.com – I have a Netgear WNDR4500 wireless router which allows me to print wirelessly to a printer connected to it via a USB cable. However, the software used to print to it only works for Windows and OS X. I've seen the question Printing to a printer attached to a network USB hub, and tried the instructions it gave using my router's IP address, but when I print a test page it says copying data then says printer is in use. In the printer queue window it says not connected. How can I print to the printer using Ubuntu? Thanks. (HowTos)