Maybe the best solution is to use Nautilus Actions.
Install nautilus-actions package, execute the "Nautilus Actions Settings" from "System > Preferences" menu and add some action:
Action Tab
Nautilus Item
Context Label : Print
Display item in selection context menu
Display item in location context menu (not needed)
Action Properties: Enabled
Command Tab
Profile
Label: Default
Command:
Path: lp
Parameters: %M (click on the legend button to see additional info)
Edit the other tabs information as you would like to your nautilus to behave.
Save the action, restart nautilus and Bingo!
Your context menu will show up "Print"...
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