controller {
  name: "LAT_PLUS_CONTROLLER"
  type: "LatPlusController"
}
controller {
  name: "LON_PLUS_CONTROLLER"
  type: "LonPlusController"
}
controller {
  name: "ANTISLIP_TASK"
  type: "AntiSlipControlTask"
}
controller {
  name: "DEBUG_INFO_TASK"
  type: "DebugInfoControlTask"
}
