As the density of wireless networks continues to grow with more clients, more base stations, and more traffic, designing cost-effective wireless solutions with efficient resource usage and ease to manage is an increasing challenging task due to the overall system complexity. A number of vendors offer scalable and high-performance wireless networks but at a high cost and commonly as a single-vendor solution, limiting the ability to innovate after roll-out. Recent Software-Defined Networking (SDN) approaches propose new means for network virtualization and programmability advancing the way networks can be designed and operated, including user-defined features and customized behaviour even at run-time. However, means for rapid prototyping and experimental evaluation of SDN for wireless environments are not yet available. This paper introduces Mininet-WiFi as a tool to emulate wireless OpenFlow/SDN scenarios allowing high-fidelity experiments that replicate real networking environments. Mininet-WiFi augments the well-known Mininet emulator with virtual wireless stations and access points while keeping the original SDN capabilities and the lightweight virtualization software architecture. We elaborate on the potential applications of Mininet-Wifi and discuss the benefits and current limitations. Two use cases based on IEEE 802.11 demonstrate available functionality in our open source developments.