racoon2-iked: 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/sbin/racoon2-iked - from package: racoon2

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

Error in other languages:
racoon2-iked: bevel nie gevind nie
racoon2-iked: comandă negăsită
racoon2-iked: comando não encontrado
racoon2-iked: commande introuvable
racoon2-iked: command not found
racoon2-iked: käsku ei ole
racoon2-iked: không tìm thấy lệnh
racoon2-iked: komanda nerasta
racoon2-iked: Kommando nicht gefunden.
racoon2-iked: kommandot finns inte
racoon2-iked: komut yok
racoon2-iked: nie znaleziono polecenia
racoon2-iked: níor aimsíodh an t-ordú
racoon2-iked: no se encontró la orden
racoon2-iked: no s'ha trobat l'ordre
racoon2-iked: opdracht niet gevonden
racoon2-iked: parancs nem található
racoon2-iked: perintah tidak ditemukan
racoon2-iked: príkaz nenájdený
racoon2-iked: příkaz nenalezen
racoon2-iked: команда не найдена
racoon2-iked: командата не е открита
racoon2-iked: 命令找不到
racoon2-iked: コマンドが見つかりません