I have installed zookeeper in 3 different aws servers. The following is the configuration in all the servers
tickTime=2000
initLimit=10
syncLimit=5
dataDir=/
I had a similar issue. The status on 2 of my three zookeeper nodes was listed as "standalone", even though the zoo.cfg file indicated that it should be clustered. My third node couldn't start, with the error you described. I think what fixed it for me was running zkServer.sh start in quick succession across my three nodes, such that zookeeper was running before the zoo.cfg initLimit was reached. Hope this works for someone out there.