Hi Kristian,
Mapserver dont support GeoPDF as of now. Maybe you would like to speak to
devs about their plans to do so. 
However, I have written my own routines for creating GeoPDF. I use Mapserver
to generate raster/vector PDF with good quality and eventually using I text
library I merge them layer by layer to create GeoPDF. Same way I add map
surrounds like north arrow, legend scale bar etc. Finally I write some
projection parameters and attributes. However I was not able to exploit
measure tool. Trust me its time taking process but worth trying. 

-Sumit
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