Package: hamlib

"hamlib" package binaries on CentOS:

/usr/bin/rigctl /usr/bin/rigctld /usr/bin/rigmem /usr/bin/rigsmtr /usr/bin/rigswr /usr/bin/rotctl /usr/bin/rotctld /usr/sbin/rpc.rigd /usr/sbin/rpc.rotd

You may install this package on CentOS with yum install hamlib