MuSHR

Based on published sources · Not tested by us · Sources checked 2026-10-01

Overview

RC-based research racecar; the reviewed Nano route uses V3 printed parts and separately versioned ROS control packages, with older firmware/image assumptions requiring validation. [S001]

MuSHR is an RC-based research racecar platform with several hardware and software components. This entry follows the Nano build guide: a Redcat Blackout chassis, Jetson Nano, VESC and printed upper frame. The guide replaces the stock drive motor and steering servo; it also offers a Pro chassis with a brushless motor already fitted. Those alternatives affect the assembly work and parts list. [S005] [S007]

Official website · Source code

Specifications

Detail	Description
Type	Selected Nano configuration: Redcat Blackout RC-based car with V3 printed upper frame. Reported by source [S005] [S007] [S008] · Checked 2026-10-01
Intended users	Research and teaching labs comfortable with RC assembly and Linux/ROS configuration Editorial assessment [S001] · Checked 2026-10-01
Assembly	Modify purchased RC chassis and print Nano V3 frame parts; TX2 V2 files are a separate design. Reported by source [S005] [S008] · Checked 2026-10-01
Calibration	Configure VESC for actual motor and servo; guide begins software setup with wheels clear of the ground. Reported by source [S005] · Checked 2026-10-01
Operating system	Not known
Computer needed	Jetson Nano plus host computer or monitor/keyboard/mouse for setup. Reported by source [S005] · Checked 2026-10-01

3D preview

Preview not available yet. A model has not yet been prepared and approved for display on this page. This does not mean the project lacks CAD files; see Source files and licenses for the reviewed source availability.

Assembly and use

Use the Nano-specific printed parts

The separately preserved CAD repository identifies V3 as the Nano design and V2 as the TX2 design. Its README directs Nano builders to print the files in v3/stl once each, except racecar_cover_image, which is printed twice. OpenSCAD source is provided for modifying the parts. The archive was preserved, but no print, geometric fit or chassis assembly was tested here. [S008] [S010]

The parts document lists purchased electronics, fasteners, power components and sensor alternatives. It lists RealSense alternatives and notes that fitting missing motor bullet connectors may require soldering. The build guide also describes a D435i/T265 dual-camera arrangement. As an editorial next step, select the camera configuration and reconcile its mounts and wiring with the chosen guide before ordering. [S005] Consequently, the project overview’s general no-soldering description depends on the parts actually purchased. Historical item prices are not a current complete delivered budget. [S001] [S007]

Preserve the software environment separately

The main repository is an index and integration layer. Its dependency manifest points to moving branches for the base controller, VESC and camera packages. This review separately preserved the base-control repository and CAD, but that does not establish a fully pinned, installed system across every dependency. [S001] [S011] [S013] [S014]

The build guide offers a preconfigured Nano image and a stock-image installation route for image problems or smaller storage. It also instructs builders to select the older bldc-tool/firmwares/hw_410_411_412/VESC_servoout.bin binary for that hardware family. Record and verify the selected board, firmware and image combination; these instructions do not establish compatibility with arbitrary newer Jetson or VESC hardware. Neither image installation nor firmware flashing was performed here. [S005]

Distinguish command priority from an implemented safety controller

The base configuration gives the safety input higher priority than teleoperation, followed by navigation and a default input. However, the base README describes the safety controller input as currently null. A named high-priority channel does not demonstrate that an active safety controller is installed or publishing commands. [S011] [S015]

Upstream begins software setup with the car supported so its wheels are clear of the ground, then configures the VESC and controller before teleoperation. Confirm the actual motor/servo behavior and joystick mapping before moving on to navigation experiments. This review does not claim a tested stop behavior, navigation result or calibrated vehicle. [S005] [S011]

The main and CAD repositories carry BSD-3-Clause license text. The separate base repository also contains that license text, with its own copyright line and bundled component notices. These do not establish blanket rights to website content, all external drivers or purchased RC components. Source availability and a successfully reproduced build remain separate findings. [S003] [S009] [S012]

Cost

No current, complete configuration-specific build cost has been established for this profile.

Source files and licenses

Available project sources support research coverage; complete build and commercial qualification remain separate.

Layer	Availability / license
mechanical design	available · BSD-3-Clause V3 printed additions and design files; not complete manufacturer source for purchased chassis. [S008] [S009] [S010]
electronics	available · License not fully assessed Integration and wiring instructions; website reuse license and complete purchased-board source not established. [S005]
firmware	not found · License not fully assessed Guide selects a historical VESC servo-output binary; complete matching firmware source for the selected controller not preserved here. [S005] [S014]
software	available · BSD-3-Clause Main repository scope; website, separate packages and purchased components require separate terms. [S003] [S004]
documentation	available · BSD-3-Clause Main repository scope; website, separate packages and purchased components require separate terms. [S003] [S004]

No learned model or dataset selected for this physical platform and teleoperation profile.

References

Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.

S001 · prl-mushr / project contributors
Upstream project overview
Accessed 2026-10-01 · README.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S002 · prl-mushr / project contributors
Repository revision and release metadata
Accessed 2026-10-01 · 2030b907822ac333d00cc9674625198dde1886ed
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S003 · prl-mushr / project contributors
Repository license
Accessed 2026-10-01 · LICENSE.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S004 · prl-mushr / project contributors
Pinned repository artifact inventory
Accessed 2026-10-01 · 2030b907822ac333d00cc9674625198dde1886ed archive file inventory
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S005 · prl-mushr / project contributors
MuSHR website: build
Accessed 2026-10-01 · Retrieved website text; separate from pinned main repository
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S006 · prl-mushr / project contributors
MuSHR website: overview
Accessed 2026-10-01 · Retrieved website text; separate from pinned main repository
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S007 · prl-mushr / project contributors
Nano bill of materials
Accessed 2026-10-01 · 2030b907822ac333d00cc9674625198dde1886ed / DOCX table extraction
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S008 · prl-mushr / project contributors
Separate MuSHR cad: README.md
Accessed 2026-10-01 · d1289d3b140d1c85af723005db8ef07bf1e0f3ea
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S009 · prl-mushr / project contributors
Separate MuSHR cad: LICENSE.md
Accessed 2026-10-01 · d1289d3b140d1c85af723005db8ef07bf1e0f3ea
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S010 · prl-mushr / project contributors
Preserved cad inventory
Accessed 2026-10-01 · Separate snapshot; no complete matched build assertion
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S011 · prl-mushr / project contributors
Separate MuSHR base: README.md
Accessed 2026-10-01 · d20b3d096a13f0e6c4120aed83159d716bbaaca7
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S012 · prl-mushr / project contributors
Separate MuSHR base: LICENSE.md
Accessed 2026-10-01 · d20b3d096a13f0e6c4120aed83159d716bbaaca7
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S013 · prl-mushr / project contributors
Preserved base inventory
Accessed 2026-10-01 · Separate snapshot; no complete matched build assertion
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S014 · prl-mushr / project contributors
Main repository dependency manifest
Accessed 2026-10-01 · 2030b907822ac333d00cc9674625198dde1886ed / repos.yaml
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S015 · prl-mushr / project contributors
Command priority configuration
Accessed 2026-10-01 · d20b3d096a13f0e6c4120aed83159d716bbaaca7
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.

Research and review details

Source research only; no installation, physical build or performance test performed. No affiliate links added.

Profile edited 2026-10-01 · Sources checked 2026-10-01 · Next review target 2026-10-31

Revision: 2030b907822ac333d00cc9674625198dde1886ed (commit snapshot; no published stable release found). Combined hardware and software repository activity recorded 2022-02-10 [S002]

Correction guidance · Discussion is not enabled · Profile format 0.6.0-draft.1

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