rlwrap: 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/rlwrap - from package: rlwrap

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

On Debian possible default full paths are:

/usr/bin/rlwrap - from package: rlwrap

You may install the required package with command apt-get install {package}

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