To get your swarm mode cluster setup locally, bring up the machines with vagrant:
vagrant up
Once they have provisioned, you can ssh into the swarm-manager and check on the status of your cluster:
vagrant ssh swarm-manager
docker node ls
You should see something like:
vagrant@swarm-manager:~$ docker node ls
ID HOSTNAME MEMBERSHIP STATUS AVAILABILITY MANAGER STATUS
0o2lwuuvn219msici53vdc7po swarm-node1.example.com Accepted Ready Active
2c4oewsf2bk1d704nyyp2o6lw swarm-node3.example.com Accepted Ready Active
7puefkwx0itq7bi9f7dw1wbw6 * swarm-manager.example.com Accepted Ready Active Leader
bmgm8ftvn7wzsxinyps8kn688 swarm-node2.example.com Accepted Ready Active
Your swarm mode cluster is now up and running.