By default, the CloudFormation template generates 2 autoscaling groups: manager nodes & workers nodes.
Which would be the best way to add more autoscaling groups? (i.e. another worker autoscaling group with different instance types?)
You can duplicate the worker nodes part. You also need to add some docker engine label in the userdata section so that you can specify to the Swarm orchestrator on which autoscaling group you want which service containers. Works well.