If the printer it's shared over a wifi network, you can just use netcat:
nc your_printer_ip 9100 < /path/to/your/pdf/file nc your_printer_ip 9100 < /path/to/your/pdf/fileMost networked printers support Postscript, it's not a special feature like it used to be.
Sure, cheap USB inkjets usually don't, but with how cheap entry level networked lasers have been for the last decade or two there's no good reason to buy one of those things. They may be cheaper up front but within a few years the ink alone will make the difference.
Maybe .ps would be better, but even that isn't universally accepted.