Measure what?
If you want to know how much charge is in a battery, then you would shut off all charging, put on a 3 amp load for a couple of minutes, then with no loads or charging, get a 'resting voltage'.
If you want to see how many amps are going into each battery, then use a clamp on DC rated amp meter. Home Depot sells one for $89 that is pretty good. You just clamp the meter over the wire, and it will tell you how many amps DC is going through it.
If you are installing a bunch of 12 volt solar panels and hooking them up to a 24 volt voltage controller, then don't worry about the input or output voltage so much. The controller will turn on at anything below 26 volts, and shut off around 27 or 28 volts.
Just match the pairs of 12 volt panels as best you can to their amperage. So if you have a pair of 12 volt 120 watt panels, rated at 7.5 amps, then run ground to the first one, +12 to the second one, and the +24 wire goes to the controller. If you only have space for say a pair of 80 watt panels rated at 4 amps, then run ground to the first one - input, + 12 goes to the second one - input, while + output is 24 volts, and that will go to the controller.
The controller does not care how many amps each wire has on it. It will just turn on when the output wire is less than about 26 volts, if the input voltage is higher than the output voltage. And then shut off when output is near 28 volts +/- 0.5 volts.
I would use #10 wire up to about 15 amps on it. Then if you are going with more amperage, go to larger wire, or run a second line.
You can buy grey #10 wire at Home Depot, UV rated romex, direct burial, and suitable for use on the RV roof. Then run this down the refrigerator vent cover to the controller, then to the batteries.
I made roof mounts from 2" angle aluminum. Cut 6" and drill three holes 3/16" for #10 screws into the roof, and 5/16" hole for a 1/4-20 bolt into the panel. Nylon lock nuts tend to frustrate anyone trying to steal them! Especially if you use tamper resistant round head bolts, with Torx heads.
If you don't already have the panels, this place has great prices on them.
SunElec.com You can also check your local Craigslist too.
Good luck!
Fred.