How can I print grocery store receipts from an iPad?

I run a natural food grocery store and am considering using iPads as our checkout device. (We currently use iMacs, which are nearly 5 years old now.) I think I could set up a nice system using FileMaker Go. I have done quite a bit of searching, and I don't see a clear answer as to how and whether I could print receipts on an industrial-quality receipt printer, wireless or otherwise, from the iPad. I'm not interested in anything that has a slow response time or requires printing through a separate computer (otherwise, I'll stick with using iMacs!). The receipts must be printed quickly and on the spot.
Apple's Camera Connection Kit appears to be a straightforward way to get a USB port onto the iPad, and I assume (correct me if I'm wrong) I could get multiple USB ports by attaching a self-powered hub to that port. So that should take care of the input devices, namely the barcode scanners and credit card swipes.
But it sounds like printing requires an additional application or a driver. I don't even have an iPad to test yet. Can anyone clue me in?

You cannot connect a USB hub to an iPad and you cannot connect just any USB device to an iPad via the Camera Connection Kit. The only supported printing from an iPad is using AirPrint which is supported by only a few printers, which won't meet your printing requirements.
I suggest sticking with iMacs, although I don't know why you don't use a standard cash register system.

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