using launch file instead py file

Author: sWintermoor

src/bitbots_misc/bitbots_bringup/launch/motion.launch

@@ -60,13 +60,11 @@
     -->
 
 
-     <!--launch rl policies (currently diabled) 
-    <group if="$(var rl_policies)">
-        <node pkg="bitbots_rl_motion" exec="run_policies" output="screen">
-            <param name="use_sim_time" value="$(var sim)"/>
-        </node>
-    </group>
-    -->
+     <!--launch rl policies -->
+    <include file="$(find-pkg-share bitbots_rl_motion)/launch/rl_motion.launch">
+        <arg name="sim" value="$(var sim)"/>
+        <arg name="viz" value="$(var viz)"/>
+    </include>
 
     <!-- launch dynup -->
     <include file="$(find-pkg-share bitbots_dynup)/launch/dynup.launch">

src/bitbots_motion/bitbots_rl_motion/bitbots_rl_motion/policy_nodes.py

@@ -2,9 +2,12 @@
   <arg name="sim" default="false"/>
 
   <group unless="$(var sim)">
-    <node pkg="bitbots_rl_motion" exec="policy_nodes" output="screen" launch-prefix="$(var taskset)">
-      <param from="$(find-pkg-share bitbots_rl_motion)/configs/wolfgang_dribbling_model_config.yaml" />
+    <node pkg="bitbots_rl_motion" exec="walk_node" output="screen">
       <param from="$(find-pkg-share bitbots_rl_motion)/configs/wolfgang_walking_model_config.yaml" />
     </node>
+
+    <node pkg="bitbots_rl_motion" exec="kick_node" output="screen">
+      <param from="$(find-pkg-share bitbots_rl_motion)/configs/wolfgang_dribbling_model_config.yaml" />
+    </node>
   </group>
 </launch>