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kubernetes - error starting docker daemon on ubuntu 14.04 (Devices cgroup isn't mounted)

I followed docker instructions to install and verify the docker installation (from http://docs.docker.com/linux/step_one/).

I tried on 2 Ubuntu 14.04 machines and on both I got following error when starting docker daemon:

$ sudo docker daemon
INFO[0000] Listening for HTTP on unix (/var/run/docker.sock) 
INFO[0000] [graphdriver] using prior storage driver "aufs" 
INFO[0000] Option DefaultDriver: bridge                 
INFO[0000] Option DefaultNetwork: bridge                
WARN[0000] Running modprobe bridge nf_nat br_netfilter failed with    message: modprobe: WARNING: Module br_netfilter not found. , error: exit status 1 
INFO[0000] Firewalld running: false                     
WARN[0000] Your kernel does not support cgroup memory limit: mountpoint for memory not found 
WARN[0000] mountpoint for cpu not found                 
FATA[0000] Error starting daemon: Devices cgroup isn't mounted 

I appreciate any help to resolve this issue.

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I resolved this issue by starting the docker deamon manually using:

sudo service docker start


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