Install the prerequisites for verilator as documented in the Verilator install instructions.
Next, build and install verilator:
git clone https://github.com/verilator/verilator
cd verilator
git checkout v5.006
autoconf
./configure
make -j10
sudo make install
git submodule update --init hw/1.0/rtl/" # Needed the first time
(cd hw/verilated && cargo test --features verilator)
(cd hw-model && cargo test --features verilator)
Cargo will compile the RTL into verilated C++, compile the generated C++ into a static library, and link to this library from the Rust crate.