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You're right. Libreoffice is not a pdf viewer/annotator and there's not good pdf annotator for linux.

My solution is to use Foxit reader for windows with the latest version of wine (1.5). Works great.

The instructions on how to set Foxit as the default pdf viewer may be found here: http://askubuntu.com/questions/94882/how-do-i-set-foxit-reader-for-windows-as-my-default-pdf-reader/95404#95404