MD-SAL cannot provide doc. of REST APIs, because the API are generated at runtime based on YANG models. Then how to address this complaint?
    Since that REST APIs are designed on RESTCONF protocol, a OSDI bundle named RESTCONF API Explorer[1] can be deployed in ODL to generate doc. based on Swagger specification[2]. You can access it by
:8080/apidoc/explorer
or in karaf
:8181/apidoc/explorer/index.html

....The above tips are what the ODL wiki [3] said on MD-SAL‘s RESTconf API. I tried this URL and found that some northbound APIs are absent.

    The webpage [4] shows some northbound APIs of MD-SAL, however I can not open the URL as the certification of the web is not registered yet.

    When I google the oepndaylight REST APIs, I get [5] with full of nonexisting links.

[1] https://datatracker.ietf.org/doc/draft-bierman-netconf-restconf/
[2] https://github.com/wordnik/swagger-spec/blob/master/versions/1.2.md
[3] https://wiki.opendaylight.org/view/OpenDaylight_Controller:MD-SAL:Restconf_API_Explorer
[4] https://wiki.opendaylight.org/view/OpenDaylight_Controller:RESTCONF_Northbound_APIs
[5] https://wiki.opendaylight.org/view/OpenDaylight_Controller:REST_Reference_and_Authentication

After you know the ODL ws REST api, you can understand the following works easily!

1. This page describes examples on how to configure VTN Manager for Service Chaining.

2. This page describes the various Mininet Scripts that are used in examples for VTN usage.

opendaylight web service REST api