Yes, because the iPad can not recognize the printer at all, there is no possibility to connect the two devices. You need to connect your iPad to a computer, then print the things out from the computer.
How can you transfer iPad files to computer for free?
I use Syncios. You can also have a try. For example, transfer photos.
Select My devices on the top menu bar，then click Photos on the left panel. You will be able to select album to preview and print via the Album List on the right. After selecting photos, tap on Export to copy photos to PC.
Print iPhone Pictures via computer
After the transferring process was done, right-click any of the selected photos and choose Print from the pop-up menu. You are going to see a new windows, from which you are allowed to choose your printer, paper size, quality, paper type, photo layout, and the number of times to print each picture . The last step is to click Print.