If you want to generate pdf from HTML on Ubuntu and try to search the tool for the same, you will find lots of tools for it. But wkhtmltopdf is the best one among them. 

So please follow these steps to install wkhtmltopdf along with qt4 that can convert rich javascript graphs into pdf.

Step 1: First install the dependencies

          sudo apt-get install openssl build-essential xorg libssl-dev libxrender-dev libqt4-dev qt4-dev-tools

Step 2: Install wkhtmltopdf

     sudo apt-get install wkhtmltopdf

Step 3: Test the installation

      wkhtmltopdf http://www.highcharts.com/demo test.pdf

If you are using highchart and facing issue related to segmentation fault then try after disabling animation as mentioned 

in the follwoing code:

<script type="text/javascript" charset="utf-8">
 
  var chart = new Highcharts.Chart({
      chart: { renderTo: 'container' },
 
      // These make it work nicely with wkhtmltopdf
      plotOptions: { series: { enableMouseTracking: false, shadow: false, animation: false } },
 
      xAxis: { categories: ['Jan', 'Feb', 'Mar', 'Apr', 'May', 'Jun', 'Jul', 'Aug', 'Sep', 'Oct'] },
      series: [{ data: [29.9, 71.5, 106.4, 129.2, 144.0, 176.0, 135.6, 148.5, 216.4, 194.1] }]
 
  });
 
</script>

Have fun with wkthltopdf !!!!