Most HP printers are supported by the hplip project, which your distro is sure to have.
After installing the package, configure the printer via the cups web interface: http://localhost:631
Cups doesn't like the uri you supplied:
Is this a network printer, or connected via usb?
Here is an example of using hp-makeuri to generate the uri to use in the cups configuration:
1. Example using 'lsusb' to obtain USB bus ID and USB device ID (example only, the values you obtain will differ) :
Bus 003 Device 011: ID 03f0:c202 Hewlett-Packard
$ hp-makeuri 003:011
This example is from "hp-makeuri --help".