Is it possible to use docker swarm with rootless docker?

I have successfully installed rootless docker and now I’m trying to use docker swarm with it. I’m running four GCP instances. I followed below steps:

on Node 1

  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

on Node 2

  1. docker swarm join --token SWMTKN-1-2xtpxpc18p8qf3e4kb3dvsjr4a4ae786entmwuekh6w5bbfmpz-e5rhoya81d1pajet80wx34mcv 34.93.X.X:2377 --advertise-addr 34.93.X.X gives below 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

with root docker I’m able to join the nodes.

Source: StackOverflow