qpid-config: 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/qpid-config - from package: qpid-tools

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

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