The most widely used clustering solution on Linux is the combination of pacemaker and corosync. Corosync is responsible for messaging between nodes and ensuring a consistent cluster state, and pacemaker is responsible for managing the resources on top of this cluster state. There are a large number of resource agents available for pacemaker that enable the clustering of a wide range of services, including a number of STONITH agents for common-server IPMIs.
They can both be managed by a number of different client tools, the most common being pcs and crmsh. The following tutorial will focus on the crmsh toolset.