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A good place to start would be to read over the Stage ROS API available on the stage wiki page. In particular, note that Stage publishes an odom topic for odometry information, a base_scan topic for planar laser scans and subscribes to the cmd_vel topic for velocity commands. Stageros also outputs the tf information required to transform laser scans into the odometry frame.
An important thing to keep in mind is that Stage is not a full-on physics simulation so code that does low-level control may not be appropriate to simulate if it is dependent on physical properties of your platform (I'm referring to things like control loops or PIDs that may need gains tuned to the particular robot platform).
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