If you have a Canon printer based on the LIPSLX driver (i.e. LBP family) then you are lucky because Canon provides the linux drivers for these printers.
Simply go to this page Canon Linux Driver check for the supported printers and the respective drivers. For my case I have the LBP5910F printer that is supported by the LIPS LX Printer Driver so I enter this page and download the two corresponding .deb packages for Ubuntu/Debian. If you use Redhat or any other distribution that uses RPMs then download the corresponding RPMs.
To install in Ubuntu/Debian:
sudo dpkg -i cndrvcups-common_1.70-1_i386.deb
sudo dpkg -i cndrvcups-lipslx_1.70-1_i386.deb
sudo /etc/init.d/cupsys restart
Now enter CUPS configuration page (i.e. http://localhost:631) and follow the steps. In my case the printer was already listed in the select box of printers with IP address and everithing. In Make/Manufacturer select Canon and finally in Model/Driver select the corresponding driver:
And that is all now you can try to print a test page.
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