Verilator[Ref 1] is an open-source and free Verilog HDL simulator. Its installation is straightforward.
Ref 2 provides instructions to download and install verilator. The readme.pod file in the verilator downloaded also described the installation instructions.
Ref 3 provides examples to do simulation using verilator.
Dinotrace[Ref 4] is a free tool to look at waveforms.
Reference
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1. http://www.veripool.org/wiki/verilator
2. http://www.veripool.org/projects/verilator/wiki/Installing
3. http://www.veripool.org/projects/verilator/wiki/Manual-verilator
4. http://www.veripool.org/wiki/dinotrace
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