looking at the very nice Zguide manual (http://zguide.zeromq.org/page:all) and 
how it was built I stumbled over http://code.google.com/p/wkhtmltopdf/, which 
converts html to pdf.

I thought I give it a stab and see how the online docs come out in pdf if 
processed with wkhtmltopdf.

I ran those commands,  runtime ca 4secs per pdf:

$ wkhtmltopdf http://www.linuxcnc.org/docs/devel/html/gcode/gcode.html gcode.pdf
$ wkhtmltopdf http://www.linuxcnc.org/docs/devel/html/remap/structure.html  
remap.pdf

Here are the results:
http://static.mah.priv.at/public/gcode.pdf
http://static.mah.priv.at/public/remap.pdf

Not too bad for all defaults, no trying to improve on anything. There are 
issues; remap.pdf cant be opened in MacOS; I didnt get pages with SVG graphics 
to convert.

I'm not suggesting to replace the current approach just yet, but it would be 
worth investigating further.

-m

I used the wkhtmltopdf binary from here: 
http://code.google.com/p/wkhtmltopdf/downloads/detail?name=wkhtmltoimage-0.11.0_rc1-static-i386.tar.bz2&can=2&q=



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