catkin_create_pkg: 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/catkin_create_pkg - from package: python-catkin_pkg

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

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