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This fix tries to address the comment https://github.com/docker/docker/pull/30376#discussion_r97465334 where it was not possible to specify `--format` for `docker node ls`. The `--format` flag is a quite useful flag that could be used in many places such as completion. This fix implements `--format` for `docker node ls` and add `nodesFormat` in config.json so that it is possible to specify the output when `docker node ls` is invoked. Related documentations have been updated. A set of unit tests have been added. This fix is related to #30376. Signed-off-by: Yong Tang <yong.tang.github@outlook.com>