Build image by Yocto for Raspberrypi 4 board.
docker-compose up -d
docker exec -it yocto_pi bash
.... # make some changes on your own
./start.sh
Open your browser and navigate to http://localhost:8080 to see your results and download the files you need.
Check the raspberrypi's bsp layer for more information, decide whatever features you want to enable.
Refer to Yocto Project websiet for more guide. I recommend Quick Build to get started.
Check docker image here: https://hub.docker.com/repository/docker/kljsandjb/yocto_pi
Use python script to create the release and upload the file to it, need to fetch your own access token at first.