In reply to Moein75:
So you will need to look at each component and determine how you want to start it.
For a component which has a forever loop and never returns, or if you don't care when it returns, you want to use a fork/join_none.
For a component which does return, you need to determine if you want to wait for just one to finish (fork/join_any), or wait for all to return (fork/join).
You will need to a for loop for each scenario.