OS and kernel

Distribution

Plan is not detailed yet. Leaning toward Arch Linux ARM plus a custom package repository (PKGBUILDs for kernel, Monado, drivers) instead of forking a distro. Nothing in the requirements needs a fork.

Current dev environment

The team's RB5 runs Ubuntu 18.04, accessed remotely over Tailscale/SSH.
Newer software (e.g. Monado build deps) runs in an Ubuntu 24.04 Docker container; no in-place OS upgrade. Setup: EB5 Monado Development Setup.
The image ships no vendor Vulkan driver (Adreno GLES/EGL only). A self-built Mesa Turnip works in containers on the Adreno 650 through the KGSL kernel driver.

Kernel choice

	Mainline (Linaro upstream SM8250)	Qualcomm vendor BSP (4.19-era)
GPU	Freedreno/Turnip; good fit for Monado	Proprietary Adreno
Cameras	Raw RDI capture via camss; no ISP, so RGB needs GPU debayering	CamX/ISP
DSP/NPU	Hexagon harder to use	Available
Tradeoff	Open, modern, fits Arch	Old kernel, vendor lock-in, poor Arch fit

Mainline fits an Arch + Monado stack as long as losing the ISP and DSP is acceptable.

Open questions

Mainline vs vendor kernel (not decided).
Whether the GPU SLAM plan and RGB debayering fit the GPU budget without the ISP/DSP.