在pom.xml中添加以下配置：

<plugin>
                <groupId>io.github.swagger2markup</groupId>
                <artifactId>swagger2markup-maven-plugin</artifactId>
                <version>1.3.3</version>
                <configuration>
                    <!--swagger页面可以看到-->
                    <swaggerInput>项目访问根路径/v2/api-docs</swaggerInput>
                    <!--生成多个文件-->
                    <!--<outputDir>./docs/asciidoc/generated/all</outputDir>-->
                    <!--生成单个文件-->
                    <outputFile>./docs/asciidoc/generated/xxx-api</outputFile>
                    <config>
                        <!-- 除了ASCIIDOC之外，还有MARKDOWN和CONFLUENCE_MARKUP可选 -->
                        <swagger2markup.markupLanguage>ASCIIDOC</swagger2markup.markupLanguage>
                    </config>
                </configuration>
                <executions>
                    <execution>
                        <phase>generate-sources</phase>
                        <goals>
                            <goal>convertSwagger2markup</goal>
                        </goals>
                    </execution>
                </executions>
            </plugin>
            <plugin>
                <groupId>org.asciidoctor</groupId>
                <artifactId>asciidoctor-maven-plugin</artifactId>
                <version>1.5.6</version>
                <dependencies>
                    <dependency>
                        <groupId>org.asciidoctor</groupId>
                        <artifactId>asciidoctorj-pdf</artifactId>
                        <version>1.5.0-alpha.16</version>
                    </dependency>
                    <dependency>
                        <groupId>org.jruby</groupId>
                        <artifactId>jruby-complete</artifactId>
                        <version>9.2.8.0</version>
                    </dependency>
                </dependencies>
                <configuration>
                    <!--asciidoc文件所在路径-->
                    <sourceDirectory>./docs/asciidoc/generated</sourceDirectory>
                    <headerFooter>true</headerFooter>
                    <doctype>book</doctype>
                    <sourceHighlighter>coderay</sourceHighlighter>
                    <attributes>
                        <!--菜单栏在左边-->
                        <toc>left</toc>
                        <!--多标题排列-->
                        <toclevels>3</toclevels>
                        <!--自动打数字序号-->
                        <sectnums>true</sectnums>
                    </attributes>
                </configuration>
                <executions>
                    <execution>
                        <id>output-html</id>
                        <phase>generate-resources</phase>
                        <goals>
                            <goal>process-asciidoc</goal>
                        </goals>
                        <configuration>
                            <backend>html5</backend>
                            <outputDirectory>./docs/asciidoc/html</outputDirectory>
                        </configuration>
                    </execution>
                    <execution>
                        <id>output-pdf</id>
                        <phase>generate-resources</phase>
                        <goals>
                            <goal>process-asciidoc</goal>
                        </goals>
                        <configuration>
                            <backend>pdf</backend>
                            <outputDirectory>./docs/asciidoc/pdf</outputDirectory>
                        </configuration>
                    </execution>
                </executions>
            </plugin>

执行 maven compile即可。