I never bother with attaching to a camera on Win or Mac, just plug the card into a cheap reader, means far less hassle with drivers,and its quicker to drag and drop all the pictures as well than going via cameras OS (IME anyway).
There certainly are some (especially older) printers that either arent recognised, or if they are, are badly supported on Mac. I had some issues with an HP multi function one a few months ago (cant recall which printer, it wasnt my Mac or Printer) you presumably have one of those.
Buy a card reader.