sshfp: 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/sshfp - from package: hash-slinger

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

On Debian possible default full paths are:

/usr/bin/sshfp - from package: hash-slinger
/usr/bin/sshfp - from package: sshfp

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

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