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cd ~/onos/tools/dev/mininet
sudo mn --custom onos.py --controller onos,3 --switch onosovs --topo torus,4,4

What does this do?

--custom onos.py: uses onos.py to extend Mininet with new controller and switch types

--controller onos,3: tells Mininet to start up an ONOS controller cluster with 3 ONOS nodes

--switch onosovs: this is currently necessary to enable Mininet to automatically connect to a controller with multiple IP addresses (you can also just use --switch onos)

--topo torus,4,4: tells Mininet to use a 4x4 torus topology for the data network