esd-config: 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 CentOS possible default full paths are:

/usr/bin/esd-config - from package: esound-devel

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

On Debian possible default full paths are:

/usr/bin/esd-config - from package: libesd0-dev

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