1) Grub has to be installed or linux won't boot. Edit the file /boot/grub/menu.lst (or maybe it's just /boot/menu.lst). Make sure the line with timeout is uncommented (i.e. no # sign in front) and set the timeout to something like 30 seconds.
2) I don't know, check linuxprinting.org. My recollection is that a large number of Canon printers are not supported by linux yet. A little googling turned up
this which may work. Not sure if you have to pay for it or not...