osipsconsole: 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/sbin/osipsconsole - from package: opensips

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