Sidekiq multiple workers?

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I have a question regarding Sidekiq. I come from the Resque paradigm, and in the current application I launch one worker per queue, so in the terminal I would do:

rake resque:work QUEUE='first'
rake resque:work QUEUE='second'
rake resque:work QUEUE='third'

Then, If I want more workers, for example for the third queue, I just create more workers as:

rake resque:work QUEUE='third'

My question is...

With Sidekiq, how would you start with multiple workers? I know you can do this:

sidekiq -q first, -q second, -q third

But that would just start one worker that fetches all those queues. So, how would I go to start three workers, and tell each worker to just focus on a particular queue? Also, how would I do that in Heroku?

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