usbipd: 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
/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 Debian possible default full paths are:

/usr/sbin/usbipd - from package: usbip

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