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Download and install a Debian 10 virtual machine (or another preferred form of creating a Debian 10 build environment), then log into it.

Install the image build dependencies:

apt install live-build cpio wget ca-certificates apt-utils

Install all the required build dependencies of your custom package(s) and build it(them). Instructions on how to do so are out of the scope of this document.
Download the livebuild configuration tarball.

wget https://s3-us-west-1.amazonaws.com/repos.danosproject.org/2005/livebuild/danos-2005-base-Build2.4.livebuild.tar

tar xf *livebuild.tar

cd danos-2005-base

mkdir -p config/archives/

cd ./config/archives

echo 'deb http://s3-us-west-1.amazonaws.com/repos.danosproject.org/repo/ 2005 main' > danos.list.chroot

echo -e 'Package: *\nPin: release o=DANOS\nPin-Priority: 1000' > danos.pref.chroot

wget https://s3-us-west-1.amazonaws.com/repos.danosproject.org/Release.key -O danos.key.chroot

cd ../..

mkdir -p config/packages.chroot/

cp <CUSTOM PACKAGE> config/packages.chroot/

sed -i 's/--yes/--yes --force-yes/' auto/config

auto/config

auto/build

Once the build finishes, a live-bootable hybrid EFI/legacy BIOS image and an ONIE image, together with metadata, will be found in the working directory:

danos-2005-base_20200609T1012-amd64.contents

danos-2005-base_20200609T1012-amd64.files

danos-2005-base_20200609T1012-amd64.hybrid.iso

danos-2005-base_20200609T1012-amd64.hybrid.iso-ONIE.bin

danos-2005-base_20200609T1012-amd64.hybrid.iso.zsync

danos-2005-base_20200609T1012-amd64.package