Each page would be navigable with the player's 'next' button. The result should have a directory called VIDEO_TS, to ensure it will play in old players.
First that you need to do is convert PDF file into series of images - one image for one page. To achieve this we could use
This command convert
Next thing is to create slideshow from these files. For this we could use dvd-slideshow tool.
First command will create file with description of slideshow with name NAME, time for picture 5 sec from pictures in directory DIR. Second command will generate vob file that you need to burn to DVD (to VIDEO_TS dir). Quick introduction to dvd-slideshow you could read in this blog.
In example that I presented there pages are changed automatically (
In this solution you could change slide time to 2 seconds and pause it after change, so when you unpause it next slide will be displayed after one second.
I would be very surprised if there is software that does this automatically, but if you take a screenshot of every page and save this as a graphics image, then most DVD creation software will allow you to take each image into a menu structure.
If its a long PDF, then its going to be quite a bit of work.