I got it to work.
This printer was previously set up with a Windows PC so I knew the network connection was fine.
After installing the printer stuff from synaptic, apparently a logout was not sufficient. I had to reboot. That got rid of the error message from above.
Then, I could not install the printer from Config printers, I kept getting an error about CUPS. Tried another method...
Got it to work from PC-->MoreApps-->Printing-->HP device manager... Set it up and Test page printed.