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I've a minimal Ubuntu installation, and I've heard that is possible to print to a LDP server directly with the lpr command:

   $ rlpr --printer=hp4l@foo.bar.orgfile.txt

I know the lpd ip but not the queue name, so I wonder if exist a tool to request it to the LDP server, I've seen that MacOs and Ubuntu with cups are capable of guessing it.

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Ok, I've just found a way to print without installing cups =), I just had the weird idea that it was necessary to print anything:

    rlpr -h -Plp -HHERE_IP_OF_THE_LPD_SERVER foo.ps
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