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Docker-compose up complains about "ERROR: TLS configuration is invalid - make sure your DOCKER_TLS_VERIFY and DOCKER_CERT_PATH are set correctly. You might need to run `eval "$(docker-machine env default)"`"

I am following this Get started with Docker Compose | Docker Documentation
But every time I try to do “docker-compose up”.
It will show this error:

ERROR: TLS configuration is invalid - make sure your DOCKER_TLS_VERIFY and DOCKER_CERT_PATH are set correctly.
You might need to run eval "$(docker-machine env default)"

Please help me!