Wireless printer

I have a wif-i network where intranet is not available. I’m unable to install a hp mfp 125 nw on my laptop pc. During installation I connect the printer with usb to the pc and the printer downloads my wi-fi network settings. At the last step the setup is unable to find the printer, despite that its lcd shows IP which is set during the previous steps. I also tried to manually set wi-fi to which the printer should be connected to in the setup (there are 2 options: manually choose wi-fi or download settings from pc) . I’m unable to ping the printer and to use it. When I connect it via Ethernet to the lan network and connect through vpn to it by IP everything is fine.

So I would like to enable the wifi printer in wifi network however not by using direct Wi-fi but normal wi-fi. How can I achieve this? I’m using routeros.

Change settings on the printer in a fixed IP (manually assigned), outside the DHCP scope. Ping that IP from the PC