Drivers for this printer are not available. Following the instructions to install the device on Hardy I encountered some errors and fixing them makes it work fine.Try this code initially

$ sudo vi /etc/apt/sources.list
Add the following lines
deb http://mambo.kuhp.kyoto-u.ac.jp/~takushi/ubuntu ./
deb-src http://mambo.kuhp.kyoto-u.ac.jp/~takushi/ubuntu ./
and save it.
$ sudo apt-get update
$ sudo apt-get install libcnbj-2.6 bjfilter-2.6 pstocanonbj

If this work fine, goto System->Administration->Printing
New Printer
Follow on-screen instructions ,authenticate with username: root and password: your root password ,choose Canon iP2200 Ver.2.60 as your driver. Print your test page.
You can accomplish the same at http://127.0.0.1:631/ also

The error I encountered is pstocanonbj: Depends: libcupsys2 (>= 1.2.3)
If you got a similar error then run
$ sudo apt-get install libcups2-dev
If it works fine then goto instruction for building pstocanonbj .

If you get following output instead
perl: warning: Setting locale failed.
perl: warning: Please check that your locale settings:
LANGUAGE = (unset),
LC_ALL = (unset),
LANG = “en_US.UTF-8”
are supported and installed on your system.
perl: warning: Falling back to the standard locale (“C”).
locale: Cannot set LC_CTYPE to default locale: No such file or directory
locale: Cannot set LC_MESSAGES to default locale: No such file or directory
locale: Cannot set LC_ALL to default locale: No such file or directory
run the following code to fix it.
# locale-gen en_US en_US.UTF-8 hu_HU hu_HU.UTF-8
# dpkg-reconfigure locales
This will fix the issue and run sudo apt-get install libcups2-dev

Now,we should build pstocanobj from source
$ sudo aptitude install dpkg-dev
$ sudo apt-get source pstocanonbj
$ cd pstocanonbj-3.3/
$ ./configure
$ make
$ sudo make install
$ sudo cp /usr/local/lib/cups/filter/pstocanonbj /usr/lib/cups/filter/

If this work fine, goto System->Administration->Printing
New Printer
Follow on-screen instructions ,authenticate with username: root and password: your root password ,choose Canon iP2200 Ver.2.60 as your driver. Print your test page.