The MuSHR simulator is the easiest way to get started with MuSHR. The simulated car can be either controlled via keyboard teleoperation, or by a control algorithm. This simulator is designed to emulate the car's configuration as close as possible to reduce sim-to-real overhead. To do so, many of the hardware components are programmatically simulated (camera is not simulated).

To install/run the simulator see the following tutorial.

For adjusting params see config it has the simulated vesc params and also the sensor params for each car. If you don't find the publishers or subscribers you were looking for, they are likely in mushr_base.