I know that the question is old, but if you find PDF.js too complex for the job, npm install
pdfreader. (I wrote that module)
It would take 5 lines of code to extract text from your PDF file:
var PdfReader = require("pdfreader").PdfReader;
new PdfReader().parseFileItems("sample.pdf", function(err, item){
if (item && item.text)
console.log(item.text);
});