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# which grub-gfxmenu
/usr/sbin/grub-gfxmenu
For `which` to find a command, it must be installed and in your $PATH. root has a different $PATH, by default, than user.
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# echo $PATH
/sbin:/usr/sbin:/bin:/usr/bin:/usr/X11R6/bin:/usr/local/bin:/usr/local/sbin:/usr/lib/qt4/bin
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$ which grub-gfxmenu
which: no grub-gfxmenu in (/usr/bin:/bin:/usr/local/bin:/usr/X11R6/bin/:/usr/games:/usr/lib/qt4/bin)
$ echo $PATH
/usr/bin:/bin:/usr/local/bin:/usr/X11R6/bin/:/usr/games:/usr/lib/qt4/bin
So, grub-gfxmenu is not installed in the normal, unprivileged user's $PATH. This is the case for most system administrative tools. The shell, bash or whatever, does not know of any command that is not in $PATH for the user issuing the command.
Yes, I'm on ROSA, atm. In your case, you know grub-gfxmenu is not installed, it's not in root's $PATH. It could be it's still in the configured repos. For searching that, use urpmf and, if that finds the program, install it.
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$ urpmf bin/grub-gfxmenu
mandriva-gfxboot-theme:/usr/sbin/grub-gfxmenu
rosa-gfxboot-theme:/usr/sbin/grub-gfxmenu