We are using Ubuntu as an example here, but these instructions should be able to be adapted to any other modern Linux/Unix OS that uses CUPS as its printing system. For a list of the public printers including queue names and printer models see : Public network printers.
At the bar, go to System Settings --> Printers
Click Add and select Find Network Printer
Enter the IP address in the Host field, and click Find.
The system should now have found your printer.
Click Forward and wait while the system searches for drivers.
Choose the driver and install it (Look for the mark and model on the printer to guide your choice).
Customize the Installed Options page if you know the defaults are not correct, for example, check Duplex Unit if you know the printer can print double-sided.
Customize Printer Name, Description, and Location if you'd like.
Click Apply to finish.
You should now see the new printer in your list of available printers.