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I was using the git clone master branch. It turns out it just works with Lithium release (https://www.opendaylight.org/downloads). With my mininet version (2.2.0) and OVS (2.3.90) I also needed:

# ovs-ofctl --protocols=OpenFlow13 add-flow s1 priority=0,actions=output:CONTROLLER
# ovs-ofctl --protocols=OpenFlow13 add-flow s2 priority=0,actions=output:CONTROLLER
# ovs-ofctl --protocols=OpenFlow13 add-flow s3 priority=0,actions=output:CONTROLLER

So use Lithium release and these three ovs-ofctl commands.