This uses dmenu to search through your man pages then produces a pdf for the one you selected

1. man -k . lists all man pages
2. awk '{ print $1, $2 }' prints the first column, a space then the second column
   • This results in lines like this: curl (1)
3. dmenu -i -p man takes a list from stdin and lets you choose one. It returns what you chose
   • You can swap dmenu for something like rofi if required
4. awk '{ print $2, $1 }' puts the second column first
   • The output is now like (1) curl
5. tr -d '()' removes the parentheses
6. xargs man -t puts the result at the end of the command man -t
   • This makes the command something like man -t 1 curl
   • the -t flag makes man use troff to format the page
7. ps2pdf - - produces a PDF from the postscript output by the previous command
8. zathura - is a PDF reader that can read STDIN

You will need a PDF viewer that can read from stdin.

You will need ps2pdf installed which is part of ghostscript.

You will need dmenu or a dmenu compatible program installed.