During installation there is a screen showing RoboHelp on the left, it would also list other products if you were installing the Technical Communication Suite. If you highlighted RoboHelp, options would appear on the right. Normally the PDF option is ticked by default. Did you deselect that option?
Do you have a full version of Acrobat installed?
In your Windows list of printers you should see what PDF tools are installed.
See www.grainge.org for RoboHelp and Authoring tips
I do not have a full version of Acrobat installed on my machine. And I only see my HP printer in the Windows printer options.