Package: docbook-utils-pdf

"docbook-utils-pdf" package binaries on CentOS:

/usr/bin/db2dvi /usr/bin/db2pdf /usr/bin/db2ps /usr/bin/docbook2dvi /usr/bin/docbook2pdf /usr/bin/docbook2ps

You may install this package on CentOS with yum install docbook-utils-pdf