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I used this tutorial with great success:

Please note that for my installation, installing ZLIB was NOT OPTIONAL. W/R/T the BIOS files, they need to be unzipped inside /usr/local/share/gngeo You will need all of the following BIOS files:

After you get everything in place, you may also need to modify how the es_systems.cfg executes the emulator. It helps to manually run the command from the command line instead of through EmulationStation in order to debug.