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Is there any good PDF editors for Ubuntu. Basically I need to highlight and underline in existing PDF documents.

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Depends on what you mean "existing". If you mean an editor like Adobe Pro, or like NitroPDF, Able2Extract... you may have to install a Virtualbox or find a software which runs in wine. – Shiki Apr 17 '11 at 6:49
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Okular can do this, if you don't mind KDE software.

It supports highlighting, underlining, annotation, and various types of drawing, and reads a number of formats besides PDF as well.

It's in universe.

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