Adobe does not allow to use InDesign Desktop this way, for this you need InDesign Server.
You can create "InDesign" files without actually having InDesign, in the form of IDML. However, to "view" it or "convert to PDF" the end-user still needs InDesign. Without having InDesign, you can create IDML but you would not know how much text is going to fit in each frame and on each page. IDML is an abstract data format, and still relies on ID itself to actually 'render' the text.
Why are you considering InDesign at all? There are free PDF-backends that can translate your CSV into a PDF, such as PdfBox, and may be more suitable to your task.