gistfile1.txt

firewall-cmd --new-service=docker --permanent
firewall-cmd --service=docker --add-port=2376/tcp --permanent
firewall-cmd --service=docker --add-port=2377/tcp --permanent
firewall-cmd --service=docker --add-port=7946/tcp --permanent
firewall-cmd --service=docker --add-port=7946/udp --permanent
firewall-cmd --service=docker --add-port=4789/udp --permanent

or 

/etc/firewalld/services/docker.xml
<?xml version="1.0" encoding="utf-8"?>
<service>
  <port port="2376" protocol="tcp"/>
  <port port="2377" protocol="tcp"/>
  <port port="7946" protocol="tcp"/>
  <port port="7946" protocol="udp"/>
  <port port="4789" protocol="udp"/>
</service>


docker swarm join --token SWMTKN-1-34iqak5d8uz08129zx1g85ig3rf0wkyj4zunf15ewc6itsralv-cqe8j2tjzhuw7ngp5b2fqcitw 10.77.10.181:2377