I know you probably won't read this, but I had the same problem on Linux Mint, which is also Ubuntu based, and this might help someone reading this.
What I did was download the drivers for Linux, unarchived the contents with the built in archive manager, and right click in the folder and click on terminal.
There, I just wrote sudo ./install-printer.sh in the terminal
Pressed enter and then selected no on the network option and then added the printer in the printer manager in Linux. It searched for drivers, it found them automatically, the ones that I installed and now it works perfectly. Did all this with the USB inserted in the PC while I installed drivers and the printer in the printer manager.
Hope it helps some people possibly watching this.
You can download the Linux software package from the Xerox Web site to install the printer software. If necessary, click on Drivers & Downloads on this window to download the Unified Linux Driver package to your computer.
I just bought a printer Phaser 3020 and I can't install it. I use Linux/Ubuntu 18.04.05 LTS and when I click on the setup file on the installation cd I get this error. To start with, I'm clumsy with the computer. There is someone who can help me, maybe even leave a link with a video, thank you so much