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Warning: those guides are mostly obsolete, please have a look at the new documentation.

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Setting up vSphere CLi 6.0 32-bit on RHEL6.7 32-bit
 
Installation
Fetch vSphere CLI for RHEL.
vSphere CLI 5.1
vSphere CLI 5.5 update 2
vSphere CLI 6.0
https://my.vmware.com/fr/group/vmware/details?productId=491&downloadGroup=VCLI600
https://my.vmware.com/group/vmware/details?downloadGroup=VCLI600&productId=489
Using 6.0 in this guide
 
Requirements,
rpm -Uvh http://download.fedoraproject.org/pub/epel/6/i386/epel-release-6-8.noarch.rpm
#rpm -Uvh http://epel.mirrors.ovh.net/epel/7/x86_64/e/epel-release-7-5.noarch.rpm
rpm -q openssl openssl-devel perl-Crypt-SSLeay gcc perl-CPAN perl-Archive-Zip perl-Class-MethodMaker perl-SOAP-Lite perl-XML-SAX perl-XML-NamespaceSupport perl-XML-LibXML perl-Data-Dump uuid-perl libuuid-devel uuid-devel | grep ^Package
rpm -q libuuid libuuid-devel uuid uuid-devel uuid-perl | grep ^Package
 
Install the CLI,
tar xzf VMware-vSphere-CLI-5.1.0-780721.i386.tar.gz
#tar xzf VMware-vSphere-CLI-6.0.0-2503617.x86_64.tar.gz
cd vmware-vsphere-cli-distrib/
now run,
./vmware-install.pl
 
You now have to play and search what's available either as RHEL package or at search.cpan.org. For example I need this,
MIME::Base64 3.14 or newer
so,
yum search mime-base64
yum search perl | grep -i mime-base64
==> no mime-base64 package
then go to http://search.cpan.org/ and search for mime::base64,
wget http://search.cpan.org/CPAN/authors/id/G/GA/GAAS/MIME-Base64-3.15.tar.gz
tar xzf...
cd ...
perl Makefile.PL
make
make install
and re-install vmware until there is no error left.
 
Note. to uninstall,
/usr/bin/vmware-uninstall-vSphere-CLI.pl
 
Ready to go
List all VMs on an ESX server,
vmware-cmd --server ESXI_HOST_FQDN -U short@ad.domain.net -P 'password' -l
==> works
Note. no need to enable ssh on the vihost (the esxi)
Note the adding the FQDN helped when contacting one of the ESXis of the farm, otherwise I had the SOAP timeout too.
 
List all VM registered on the vCenter,
vmware-cmd --server VCENTER_HOST_FQDN --vihost ESXI_HOST_FQDN -U short@ad.domain.net -P 'password' -l
==> doesn't work I get,
SOAP request error - possibly a protocol issue: 500 read timeout
 
Quoting vmware doc,
--server Target ESXi or vCenter Server system.
--vihost When you run vmware-cmd with the -H option pointing to a vCenter Server system, use --vihost to specify the ESXi host to run the command against.
 
References
Installation de VMWare Vsphere Remote CLI 5.1 sur Centos/RHEL 6.4 (64 bits): http://www.hosthis.org/2013/05/installation-de-vmware-vsphere-remote-cli-5-1-sur-centosrhel-6-4-64-bits/
vSphere CLI for vSphere 5.5: https://developercenter.vmware.com/tool/vsphere_cli/5.5
VMware vSphere CLI 5.5 Update 2: https://my.vmware.com/group/vmware/get-download?downloadGroup=VCLI55U2
VMware vSphere CLI 6.0: https://my.vmware.com/group/vmware/details?downloadGroup=VCLI600&productId=489
How to install perl modules (i.e. with cpan): https://access.redhat.com/solutions/4147
vmware-cmd Overview: https://pubs.vmware.com/vsphere-51/index.jsp?topic=%2Fcom.vmware.vcli.examples.doc%2Fcli_manage_vms.10.2.html
How to Install VMware vSphere SDK for Perl 5.1: https://kb.op5.com/display/HOWTOs/How+to+Install+VMware+vSphere+SDK+for+Perl+5.1
How to install VMWare ESXi CLI on CentOS 6.0?: http://serverfault.com/questions/368504/how-to-install-vmware-esxi-cli-on-centos-6-0
 

(obsolete, see the new doc)