multiple policy nodes

Author: sWintermoor

src/bitbots_motion/bitbots_rl_motion/bitbots_rl_motion/policy_nodes.py

@@ -1,19 +1,27 @@
 import os
 
 import rclpy
+from rclpy.executors import MultiThreadedExecutor
 from ament_index_python import get_package_share_directory
 from nodes.kick_node import KickNode
+from nodes.walk_node import WalkNode
 
 
 def main():
     rclpy.init()
 
     wolfgang_config = os.path.join(get_package_share_directory("bitbots_rl_motion"), "configs", "wolfgang_config.yaml")
 
-    # walk_node = WalkNode(wolfgang_config)
+    walk_node = WalkNode(wolfgang_config)
     kick_node = KickNode(wolfgang_config)
 
-    rclpy.spin(kick_node)
-    kick_node.destroy()
+    executor = MultiThreadedExecutor()
+    #executor.add_node(walk_node)
+    executor.add_node(kick_node)
 
-    rclpy.try_shutdown()
+    try:
+        executor.spin()
+    finally:
+        walk_node.destroy_node()
+        kick_node.destroy_node()
+        rclpy.shutdown()