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Docker swarm with rootless docker?

Is it possible to use docker swarm with rootless docker?
I tried to use rootless-docker with swarm and got an error. followed below stepes.

  1. docker swarm init --advertise-addr 34.93.X.X

  2. docker swarm join-token manager gives
    –> docker swarm join --token SWMTKN-1-21vhv6gawb9mpur1v379sq52ia2jq4n0boqes0wos10o7m833l-5935hxvsht0x21o0qjpeqykae 34.93.X.X:2377

  3. On Node 2
    docker swarm join --token SWMTKN-1-2xtpxpc18p8qf3e4kb3dvsjr4a4ae786entmwuekh6w5bbfmpz-e5rhoya81d1pajet80wx34mcv 34.93.X.X:2377 --advertise-addr 34.93.X.X

resulting an error

Error response from daemon: rpc error: code = Unavailable desc = all SubConns are in TransientFailure, latest connection error: connection error: desc = "transport: Error while dialing dial tcp 34.93.X.X:2377: connect: connection refused"

NOTE: working fine with root docker