Standalone Swarm (Classic Swarm): Setup a routing mesh that uses port based service discovery

What I have setup
I have a standalone swarm setup that uses consul for service discovery. I have containers deployed among this standalone swarm that are attached to an overlay network. These containers can communicate with each other using DNS.

What I would like to do
is what swarm mode does with it’s routing mesh (Ingress network) where it takes the published ports of the containers and publishes the ports on every node of the swarm. So for example say I have two nodes 172.30.155.247 and 172.30.155.252 and have a container running on 172.30.155.247:8081. I want to be able to curl 172.30.155.252:8081 and have that routed to 172.30.155.247:8081.

Question
I’m looking for direction as I’ve been searching google looking for possible solutions and I haven’t been able to find anything within a reasonable amount of time. Can anyone point me in the right direction.

Source: StackOverflow