Package: mapserver

"mapserver" package binaries on CentOS:

/usr/bin/legend /usr/bin/msencrypt /usr/bin/scalebar /usr/bin/shp2img /usr/bin/shptree /usr/bin/shptreetst /usr/bin/shptreevis /usr/bin/sortshp /usr/bin/tile4ms

You may install this package on CentOS with yum install mapserver