Yes, there is a way:

Assuming that your module names "demo", your model has the identifier "demo.howto" and the binary field is "file":

1. Put in the folder demo/static/src/binary your pdf files (howto.pdf).

2. Create a file with data records to register in the folder demo/data (howto_data.xml):

<odoo noupdate="1">

    <data>

        <record id="howto_1" model="demo.howto">

            <field file="demo/static/src/binary/howto.pdf" name="file" type="base64" />

        </record>

    </data>

</odoo>

3. Register the data file in the data section of the __manifest__.py

    # always loaded

    'data': [

        'security/ir.model.access.csv',

        'data/howto_data.xml',

        'views/views.xml',

        'views/templates.xml',

    ],

4. Install module and the data will be loaded.