rbpf-slam: 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

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 Debian possible default full paths are:

/usr/bin/rbpf-slam - from package: mrpt-apps

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