kauth: 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/kauth - from package: heimdal-workstation

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

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