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@user224 #CUPS and #hplib on #Linux do work quite well...
A lot of those just magically work out of the box and only require few changes like setting up paper size and colours/monochrome printing...
On desktop, yes. But these apps work with Android phones via OTG. Much more convenient than a laptop.
Android CUPS Print, on F-Droid.
The CUPS Printing app is a solution for printing over network. It basically makes up for the fact CUPS is not discoverable by using JmDNS for multicast DNS; you can achieve the same by installing Avahi on the computer that runs the CUPS instance that's physically connected to the printer.
I believe OP is looking for an app that will print to a printer connected directly to the phone's USB port.
I tried it. This too only works over network.