I am getting error on ubuntu 16.04
\"ERROR: Couldn\'t connect to Docker daemon - you might need to run docker- machine start default. \"
docker- machine start default
You should add your user in docker group. And then, you can use docker command without 'sudo'.
$ sudo usermod -aG docker ${USER} $ sudo service docker restart
Next, you have to logout in your OS. Finally, when you login, you can use docker command without 'sudo'.