1) First install hplip:

sudo apt install hplip

2) Next run hp setup:

hp-setup -i

In hp-setup, when prompted, type printer connection number.  When
prompted, type  d   to download the printer firmware. When prompted,
agree to the licence terms.

3) Install hp printer gui:

sudo apt install  hplip-gui

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https://bugs.launchpad.net/bugs/1752860

Title:
  hp laserjet 1020 not working

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