Hi Aravindan, please don't cross post this on both tor-talk@ and tor-dev@. In this case the topic clearly belongs on tor-dev@.
Is there anything I need to run on these nodes like a server or something
Nope, the tor executable has everything you need to be both a client and relay. Have you looked into the testing network settings?
https://www.torproject.org/docs/tor-manual.html#_testing_network_options