icc2ps: command not found

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/bin/icc2ps - from package: lcms

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

Error in other languages:
icc2ps: bevel nie gevind nie
icc2ps: comandă negăsită
icc2ps: comando não encontrado
icc2ps: commande introuvable
icc2ps: command not found
icc2ps: käsku ei ole
icc2ps: không tìm thấy lệnh
icc2ps: komanda nerasta
icc2ps: Kommando nicht gefunden.
icc2ps: kommandot finns inte
icc2ps: komut yok
icc2ps: nie znaleziono polecenia
icc2ps: níor aimsíodh an t-ordú
icc2ps: no se encontró la orden
icc2ps: no s'ha trobat l'ordre
icc2ps: opdracht niet gevonden
icc2ps: parancs nem található
icc2ps: perintah tidak ditemukan
icc2ps: príkaz nenájdený
icc2ps: příkaz nenalezen
icc2ps: команда не найдена
icc2ps: командата не е открита
icc2ps: 命令找不到
icc2ps: コマンドが見つかりません