The Atarti 2600 emulator should work as the previous poster says.

For Intellivision to work, you need two bios files, exec.bin and grom.bin, which you need put in the /usr/local/share/jzintv/rom folder. More info on how to do this at the wiki page.

https://github.com/retropie/RetroPie-Setup/wiki/Intellivision-Emulator