Install the storm package on the node:

sudo yum install storm_<version>

For example, for HDP 2.2:

sudo yum install storm_2_2*

Create a file at /etc/storm/conf/client_jaas.conf, and add the following entry to it:

StormClient {
    com.sun.security.auth.module.Krb5LoginModule required
    useTicketCache=true
    renewTicket=true
    serviceName="nimbus"
    };

Add the following settings to the /etc/storm/conf/storm.yaml configuration file:

nimbus.host: <nimbus-host>
nimbus.thrift.port: 6667
java.security.auth.login.config: "/etc/storm/conf/client_jaas.conf"
storm.thrift.transport: "backtype.storm.security.auth.kerberos.KerberosSaslTransportPlugin"

where <nimbus-host> is the host that is running Nimbus.

For example:

   nimbus.host: "c6401.ambari.apache.org"