Okular PDF viewer
Opens PDFs and lets you highlight, comment and fill in forms.
Installs from Ubuntu's own software archive.
Looking for Adobe Acrobat Reader on Linux? Okular PDF viewer does the same job for free, and TuxPick installs it for you.
Install Okular PDF viewer with TuxPickIt works on Ubuntu 22.04 and 24.04, and on systems built on them like Zorin OS and Pop!_OS.