otpprint: 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/otpprint - from package: heimdal-workstation

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

On Debian possible default full paths are:

/usr/bin/otpprint - from package: heimdal-clients

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

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