First download the package from website :

wget http://downloads.wicd.net/pkgs/stable/1.6.x/1.6.2/CentOS_5/wicd-1.6.2-2.1.x86_64.rpm
rpm -ivh wicd-1.6.2-2.1.x86_64.rpm

then install the dependencies for this ..
as it require python-urwid ..
assume you have install rpmforge repo.

yum install urwid

then install the wicd package.

the result :

now can use WPA2 , WPA-TKIP as per click-click too.