Deploying docker swarm without using docker machine

Question

Currently I have a bunch of RHEL7 VMs running on RackSpace and want to deploy docker swarm for testing purpose. The Docker Docs only describes the method to deploy docker swarm by using docker machine.

Question: Since VirtualBox cannot be used in VMs, are any other ways such that I can directly deploy docker swarm on my VMs without using docker machine?

Answer 1

In fact Docker documentation offers you how to set up a swarm cluster 'manually' without using docker-machine: Create a swarm for development