It appears Canon supplies a CUPS printer driver for this printer. When you "Add a Printer" you may need to scroll to other drivers looking for the CUPS driver for that series printer. Sometimes you won't find the exact match since drivers may be made for the general series model such as MG29xx or possibly even MG2xxx (it varies).
https://www.canon-europe.com/support/consumer_products/products/fax__multifunctionals/inkjet/pixma_mg_series/pixma_mg2950.html?type=drivers&language=en
Add a printer to your printer list so you can use it on Mac - Apple Support
If for some reason the CUPS driver cannot be found after selecting "other" drivers, then you can set up a CUPS printer by using the CUPS web interface. First you will need to use the command line in the Terminal app to enable the CUPS web interface using the following command (pay attention to the uppercase characters):
cupsctl WebInterface=yes
Then using any web browser, enter the following URL:
localhost:631/admin
See this article for details (I used "/admin" to get to the proper page, but "/printers" as mentioned in the article will just add an extra click step to reach the same page):
https://help.hikeup.com/portal/en/kb/articles/enabling-cups-printer-interface-for-mac
Since the Canon site does not mention needing to use the CUPS web interface, I think you should be able to select the CUPS Canon MG2950 driver through the normal macOS "Add Printer" GUI interface.