Pull the glove box down and you'll see the ABS module right behind it. Unplug it for a few secs and plug it back it in. That will clear the lights. Restart the truck and if the lights stay off it is an intermittant problem which may or may not come back. If they are on again,then you have a problem.
Coming off the harness from the module is a single female connector which you can ground with the key on (diesels must be running),and it will flash the codes. On long flash the a series of short ones. Don't count the first long flash,just the ones that come after. Most common is code 8 or 9,which is the ABS valve,and the speed sensor.