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PDF wouldn't be ideal, I had a look at one of the previews on my Kindle and it is a little small and not easy to read the maps because they are in black and white. You can change to landscape view and it makes the map much bigger (it splits it over two pages).
Looking at the Lonely Planet website, some of the guides give options for PDF, EPUB & MOBI, and I'd certainly think that either MOBI or EPUB would be a better option if you planned to use any e-reader. PDF files are only really going to be suitable for tablets.
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