The same issue happened for me, I used below the steps, then it can work.
#service firewalld stop
#chkconfig firewalld off
or
sudo firewall-cmd --add-port=2376/tcp --permanent
sudo firewall-cmd --add-port=2377/tcp --permanent
sudo firewall-cmd --add-port=7946/tcp --permanent
sudo firewall-cmd --add-port=7946/udp --permanent
sudo firewall-cmd --add-port=4789/udp --permanent
The post above the command execution then uses the docker join command then it will work.