Measure voltage at the battery while someone turns the key trying to start.
It is very important to put the meter probes on the tops of the lead posts that are part of the battery. Do not put them on the terminals that are part of the truck.
Voltage less than 9 volts is a fail. This means either the battery is worn out and needs to be replaced, or the truck is not charging it.
To differentiate those two situations, get the engine started, turn all other electrical devices off, and measure voltage at the battery again. It should be around 14 volts. If it is in the 12s the charging system is not working.
If battery voltage stays up above 9 but starter turns slow or not at all, it is likely a bad connection. Remove the battery terminals, clean mating surfaces on the terminal and post, and reconnect.