Isn't Ubuntu 16.04 the one they took out some of CUPS from, it makes it look like it is installed, but most installers state it can't be found?
In which case you would need to install that first.
sudo apt-get install cups in the command line or
Synaptics >Search > CUPS > Install..
HP used to have a linux utility that resolved the CUPS issue in 16.04, if you can source it from them it should fix it for any other manufacturer including Xerox.
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Joe Arseneau
