Bar.pm

package MyApp::Controller::Bar;
use Mojolicious::Lite;

get '/test' => sub {
  my $self = shift;
  $self->render('test');
};

1;
__DATA__

@@ test.html.ep
Just some test template.

Foo.pm

package MyApp::Controller::Foo;
use Mojolicious::Lite;

get '/' => {text => 'Welcome to Mojolyst!'};

1;

Mojolyst.pm

package Mojolicious::Plugin::Mojolyst;
use Mojo::Base 'Mojolicious::Plugin';

use Mojo::Loader;

sub register {
  my ($self, $app, $conf) = @_;

  # Discover controllers
  my $loader = Mojo::Loader->new;
  for my $class (@{$loader->search($conf->{controllers})}) {

    # Steal children
    $loader->load($class);
    $app->routes->add_child($_) for @{$class->new->routes->children};

    # Make DATA sections accessible
    push @{$app->static->classes},   $class;
    push @{$app->renderer->classes}, $class;
  }
}

1;

myapp.pl

#!/usr/bin/env perl
use lib 'lib';
use Mojolicious::Lite;

plugin Mojolyst => {controllers => 'MyApp::Controller'};

app->start;