Paper: https://ieeexplore.ieee.org/document/8457879/metrics#metrics
Update! The easiest way is to download the full installed libraries images and run on your RPis. http://wes.cs.umb.edu/experiments/RPi_images/ This link contains the images of node5 which I'm using for programing/compiling and node2 which is can be dublicated to any nodes
You can always contact me.