how to install PL/SQL Developer on centos
If you were referring to PL/SQL Developer it is only supported on windows


  PL/SQL Developer will run on Windows XP, 2003, Vista, Windows 7,
  Windows 8, Windows 8.1 and Windows 10.


If you were talking about Oracle SQL developer it is supported on


  Oracle SQL Developer 4.1 is available for Windows 7,8,10 and Windows
  Server 2008/2012, Linux or Mac OS X


You need to install Java version 1.8 and the SQL Developer executable. From here


Ensure you have a JDK installed, if not, download here
Download SQL Developer
rpm -Uhv sqldeveloper--1.noarch.rpm 
cd sqldeveloper - sqldeveloper