If you can see the drive on a remote XP computer, you might have Samba
installed. You definitely have it installed if you can also browse the Feisty
computer from XP.

In addition to that, you need CUPS installed on the Feisty computer, and the
printers are configured there.

It seems to me, though, that if you use GNOME, you might be able to install a
printer without these prerequisites using Administration -> Printers. You might
try that first.