How to compile a custom firmware?

Hi, I would like to include some tools in router firmwares, such as a nano or the possibility of installing anything, for this as a test, I found some files on how to reverse engineer firmwares but not how to modify the Linux that is embedded in them and then recompile these images. Can someone help me?

Welcome to the community!

Have you seen:

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Use image builder or firmware selector

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Or the offline image builder https://openwrt.org/docs/guide-user/additional-software/imagebuilder

Command example in Requesting build gives CORS error - #6 by frollic

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