I have got the solution. As I installed through rpm packages in the logs I was getting below issue:
[2017-08-24T03:50:01,331][INFO ][o.e.d.z.ZenDiscovery ] [node-2] failed to send join request to master [{node-1}{sYqhGZc4QyK_cbZ9_cz8gQ}{BBHUedE6Roaw0AMiYnQwIg}{172.31.4.119}{172.31.4.119:9300}], reason [RemoteTransportException[[node-1][172.31.4.119:9300][internal:discovery/zen/join]]; nested: IllegalArgumentException[can't add node {node-2}{sYqhGZc4QyK_cbZ9_cz8gQ}{FbDpyWy2S7SS1c8TvLsnfQ}{172.31.4.118}{172.31.4.118:9300}, found existing node {node-1}{sYqhGZc4QyK_cbZ9_cz8gQ}{BBHUedE6Roaw0AMiYnQwIg}{172.31.4.119}{172.31.4.119:9300} with the same id but is a different node instance]; ]
I had deleted contents of data folder(/var/lib/elasticsearch/nodes/0) and restarted both the servers and it worked for me.