The HP Laserjet P2055 10.100 Supply Memory Error normally appears because of a faulty or missing chip on the printer cartridge. You should be able to override the message every time it appears by pressing the 'OK' button on the printer.
Unfortunately, this won't stop it appearing on every print job, so it can become very annoying. You can buy chips from various places online, but if you happen to have an old cartridge laying around - just take the chip from there! The toner levels won't be accurate anymore, but it will stop the error from appearing and allow you to use the remaining toner in the cartridge.