Zathura is a highly configurable and functional PDF viewer based on the Poppler
rendering library and the GTK+ toolkit. The idea behind zathura is an
application that provides a minimalist and space saving interface as well as
an easy usage that mainly focuses on keyboard interaction.
But the viewer will not work unless you install the plugins to display the correct plugin. So, if you want to use it for any real purposes then you will have to install the appropriate plugin as well, so here is what you need to do:
sudo yum install zathura zathura-pdf-poppler
And you have the lightweight viewer working for pdf. Its very good option if you like a viewer alone with not many features, but doing just what it is designed to do 🙂