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  1. Follow the instructions at http://gumstix.org/basic-cross-compilation.html to make uImage and kernel modules.  Use the attached defconfig file instead of the one mentioned in the instructions.
  2. Download x-loader and u-boot from http://feeds.sakoman.com/feeds/gnome-r13/images/ 
  3. Follow the instructions at http://gobysoft.com/wiki/InstallOnGumstixOvero to build the root filesystem.  Use the attached emdebian.conf file.
    1. If you've prepared the rootfs before then all you need to change for a new kayak is the hostname in /etc/hostname and /etc/hosts as well as the ip configuration settings.  
  4. Use the instructions at http://gumstix.org/create-a-bootable-microsd-card.html to prepare the SD card and copy the MLO and u-boot.  The kernel image we built can be found in linux/arch/arm/boot.  
  5.  

openssh-server can only be installed when booting on actual hardware

sudo aptitude install libncurses5-dev python-dev cmake-curses-gui libboost-all-dev minicom subversion bzr

install distcc using instructions at gobysoft

build moos with disable names lookup, turn on console tools

build ivp without gui apps and build shared libs

build goby with common, acomms, util

usermod -a -G dialout josh

add /sbin/ to path in .basrhc

emdebian.conf:

[General]
arch=armel
directory=~/gumstix/rootfs
noauth=true
unpack=true
debootstrap=Grip Networking Debian Misc
aptsources=Grip Debian

[Grip]
packages=locales udev adduser sudo nano build-essential less module-init-tools
source=http://www.emdebian.org/grip
keyring=emdebian-archive-keyring
components=main dev
suite=stable

[Misc]
packages=wget aptitude psmisc screen
source=http://www.emdebian.org/grip
keyring=emdebian-archive-keyring
components=main dev
suite=stable

[Networking]
packages=netbase ifupdown iproute net-tools iputils-ping ntp isc-dhcp-client
source=http://www.emdebian.org/grip
keyring=emdebian-archive-keyring
suite=stable

[Debian]
packages=
source=http://mv.ezproxy.com.ezproxyberklee.flo.org/debian
keyring=debian-archive-keyring
suite=stable

#openssh-server after first boot#libncurses5-dev python-dev cmake-curses-gui libboost-all-dev minicom subversion bzr 
#moos & moos-ivp
#goby <- zmq
#moos-ivp-anrp
#modify path
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