On initial setup, the mysql server needs to be started first, then all the other containers can start. This needs to be done in order to ensure, that the DB was initialized.

Make sure to setup the *.env files.

$ docker-compose up mysql

After MySQL has started all services, quit out of the container with CTRL + C.

After that you can start all services with:

$ docker-compose up

The guacamole service will be available after starting all services via http://DOCKER-HOST-IP:8080/guacamole/