Making invoices in Openoffice, and saving as a PDF file is annoying and taking too long. Is there any command-line software for Linux that can generate a high quality PDF invoice?
Check out LaTeX. It has a command line interface and I think can read Open Documents but I am not sure about that.
If you don't mind writing a little code, you could use FreshBooks as your invoicing system, and then use their (very simple!) API to create invoices and/or download them in PDF format.
The nice thing about this solution is that you also have a great non-automated system for dealing with invoices.
I don't think this can make invoices from command line, but it's a good tool to know about: http://www.gnucash.org/
This might be a question you want to post on StackOverflow which is more programming oriented and they might have better idea of how you could do this.