Package: ipsec-tools

"ipsec-tools" package binaries on CentOS:

/sbin/setkey /usr/sbin/plainrsa-gen /usr/sbin/racoon /usr/sbin/racoonctl

You may install this package on CentOS with yum install ipsec-tools

"ipsec-tools" package binaries on Debian:

/usr/sbin/setkey

You may install this package on Debian with apt-get install ipsec-tools