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Problem with building customised rootfs for beagle bone board rev-A3

I am trying to boot linux from beagle bone board using an SD card. With the default images downloaded I am able to boot it. but the

problem is I need to customise the rootfs build some  applications and be able to boot it. I have searched enough and do not find any tool which does it. Came across

buildroot, but it has some compilation issues . So can any one please tell me how do I move on, HOW DO I GET MY OWN CUSTOM ROOTFS BEING GENERATED?

Any tool or any alternate procedure for it. Any help is highly appreciated and welcome!!!!!