daps
DAPS is an open source program for transforming DocBook XML into output formats such as HTML or PDF.
TLDR
Check if a DocBook XML file is valid
$ daps -d [path/to/file.xml] validate
Convert a DocBook XML file into PDF
$ daps -d [path/to/file.xml] pdf
Convert a DocBook XML file into a single HTML file
$ daps -d [path/to/file.xml] html --single
Display help
$ daps --help
Display version
$ daps --version