gdal_rasterize: 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/gdal_rasterize - from package: gdal

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

On Debian possible default full paths are:

/usr/bin/gdal_rasterize - from package: gdal-bin

You may install the required package with command apt-get install {package}

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