bacula-sd: command not found

Have You tried accessing the binary with the full path?

Maybe Your $PATH variable doesn't contain the default paths? echo $PATH should give something like:

[root@server ~]# echo $PATH
/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin

If it's empty, You may set the PATH variable with this command

export PATH="/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin"

On CentOS possible default full paths are:

/usr/sbin/bacula-sd - from package: bacula-storage-common

You may install the required package with command yum install {package}

On Debian possible default full paths are:

/usr/sbin/bacula-sd - from package: bacula-sd
/usr/lib/debug/usr/sbin/bacula-sd - from package: bacula-sd-dbg

You may install the required package with command apt-get install {package}
Error in other languages:
bacula-sd: bevel nie gevind nie
bacula-sd: comandă negăsită
bacula-sd: comando não encontrado
bacula-sd: commande introuvable
bacula-sd: command not found
bacula-sd: käsku ei ole
bacula-sd: không tìm thấy lệnh
bacula-sd: komanda nerasta
bacula-sd: Kommando nicht gefunden.
bacula-sd: kommandot finns inte
bacula-sd: komut yok
bacula-sd: nie znaleziono polecenia
bacula-sd: níor aimsíodh an t-ordú
bacula-sd: no se encontró la orden
bacula-sd: no s'ha trobat l'ordre
bacula-sd: opdracht niet gevonden
bacula-sd: parancs nem található
bacula-sd: perintah tidak ditemukan
bacula-sd: príkaz nenájdený
bacula-sd: příkaz nenalezen
bacula-sd: команда не найдена
bacula-sd: командата не е открита
bacula-sd: 命令找不到
bacula-sd: コマンドが見つかりません