Skip to content
ShopCommunitySign in
Intermediate build

How to build MuSHR

2-DoF self-driving race car · Intermediate

MuSHR from UW's Personal Robotics Lab is a 1/10 RC car with a Jetson Nano, VESC, YDLidar and RealSense D435. BSD-3 licensed, with a BOM around $930.

Start the buildProject files
Difficulty
Intermediate

Some soldering, calibration and Linux comfort needed.

Build time
2–4 weekends

Our estimate, part-time

Parts cost
$930

About $930, per the MuSHR BOM

Degrees of freedom
2

BSD-3-Clause

What is MuSHR?

MuSHR (Multi-agent System for non-Holonomic Racing) comes from the University of Washington's Personal Robotics Lab. It's a robot car built on a Redcat Blackout chassis, with a Jetson Nano, a VESC, a YDLidar and an Intel RealSense D435.

The URDF, meshes and BOM are in prl-mushr/mushr, and the printable parts and OpenSCAD CAD are in mushr_cad. Tutorials are at mushr.io.

The README says no soldering is needed, though you may still need to fit bullet connectors depending on your motor.

MuSHR specifications

Chassis
Redcat Blackout 1/10
Compute
Jetson Nano
Motor
Sensorless BLDC + VESC
Sensors
YDLidar, RealSense D435

Figures as published by the project. See Sources below.

Bill of materials

PartQtyNotes
Redcat Blackout RC chassis1
Sensorless brushless motor1
Jetson Nano stack1
VESC1
YDLidar1
RealSense D4351
Where's the full bill of materials?

The full BOM, with exact quantities and vendors, lives in the project's own files. Prices change often, so treat $930 as a ballpark from the project. Start at the project repository.

Tools you'll need

  • FDM printer
  • Hex drivers

Step-by-step build overview

Electronics & wiring overview

The VESC drives the motor and servo over USB from the Nano, and the lidar and camera also use USB.

Battery packpower sourceLaptop / PChigh-level control2D LiDAR + RealSense …sensingNVIDIA Jetsonreal-time controllerVESC motor controllerdrivers / busbrushless motors2 joints / motors
PowerData / commandsSensor feedbackOverview only. Follow the project's own schematic for pinouts and voltages.

Software

URDF model

MuSHR ROS stack (BSD-3-Clause).

Tips from the bench

  • ☕ Several cars together make good multi-agent experiments, which is what MuSHR was designed for.

MuSHR FAQ

Do I need to solder?

The README says no, but you may need to fit motor connectors.

Sources

Written by Bots n' Beans from the project's own documentation. Check the sources for the latest revision before you buy parts.

Related builds

Robot deals

All deals →
  • Everblog AI fridge calendar

    Deal · Everblog

    10% off

    Get deal
  • CircuitMess DIY robot kits

    Shop · CircuitMess

    DIY robot kits

    Robot and gadget kits you build yourself.

    Shop
  • GRABO Cordless vacuum lifter

    Shop · GRABO

    Cordless vacuum lifter

    GRABO Pro Brushless: the original cordless vacuum lifter for pavers, stone, glass and panels.

    Shop

Like what we do? Buying through these links supports Bots n' Beans. We earn a commission at no extra cost to you. Thank you!