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I found jpedal on my searches but it's not an option due to the cost. Seems expensive considering all I want to do it send an existing PDF to a printer :S I really don't understand how it's so difficult to be honest. PDFRenderer on the dev.java.net site looks really promising but has a few issues. It doesn't seem to be active any more though which is disappointing.
I think I have solved the problems I was having with it. I will post here after I have done some testing to say exactly what I have done
JPedal is licensed on a unlimited site usage or OEM basis and it includes 12 months support and all new releases in the year. It does printing, extraction, PDF to images and provides a viewer as well.
PDFRenderer does not support compressed PDF objects so it will not work on all PDFs.
If the printer supports PDF directly you can use JPS to print to it - otherwise you need JPedal or a similar library to print it.
You could also call something like Ghostscript from Runtime.exec()