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513534c
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(Get the code!)
FWIW, on a fresh install of Ubuntu MATE 18.04.2, I managed to make the printer work again with HPLIP 3.17.10 (the package already comes installed with a default Ubuntu MATE install).
First time you connect the printer via USB, it automagically tries to set up and configure the printer, but fails (presumably because of the key issue).
Manually running
$ hp-setup -i
comes back as usual with
"error: Unable to receive key from keyserver"
but once you let it install anyway (#yolo), the printer will work :-)
Oh, and don't set up a new print queue when the installer asks, if you say "no" it will just use the existing print queue from the failed auto-install.