You can bind the docker daemon running on your swarm manager nodes to a TCP port and communicate with it insecurely via docker -H tcp://x.x.x.x:2375 but is it not recommended for production. For testing it should be ok.
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You can bind the docker daemon running on your swarm manager nodes to a TCP port and communicate with it insecurely via docker -H tcp://x.x.x.x:2375 but is it not recommended for production. For testing it should be ok.