RAK5010 with Arduino IDE (use Openocd with pi3)

Issue: Don’t have a JTAG programmer and thinking of using the pi3 interface to burn the hex program for Arduino. Can someone help with the steps on doing this? Saw an earlier forum on this, but running into an error when running the config file on my pi3.
I want to use Arduino IDE to upload firmware for my RAK5010.

Setup:

Details: