ssh -p 8101 -o StrictHostKeyChecking=no karaf@localhost
Change localhost for the IP of the controller and 8101 for the SSH port exposed by each controller. I think controllers go from 8101, 8102, 8103... as you start onos_1, onos_2 and so on.
Also if you stop and remove controllers (and run the script again), SSH will fail and you have to run the command suggested in the console output when the error pops up.
Finally, the controller starts some applications like Openflow, LLDPProvider, fwd and so on. Basic forwarding should work if you connect mininet to one of the controllers.
Cheers