check_printer is a Nagios plugin, written to provide output for a NagVis plugin (though PNP and others can use it, as it's standard per data.) I have not tried to integrate this with Icinga, yet. We're just this week and next, rolling out Icinga to replace Nagios. At that time, I can provide more input as to your error. In the mean time, I suggest you run it best you can as a regular Nagios plugin.