If you are encountering difficulty opening PDFs from Drive in Chrome like the below...

...you may need to download the Adobe Acrobat extension from the Chrome store
Click on Connect more apps
Then click on Adobe Acrobat
Select Install
Confirm the subsequent prompt
Then select the Gmail account you are downloading the app for
Confirm the subsequent prompts
Ensure you are happy with the access you are giving then click Allow
Next time you click Open with, Adobe Acrobat for Google Drive should be available
Note: you will be prompted to confirm your account the first time you use it