entware installation guide can be found at
https://github.com/RMerl/asuswrt-merlin/wiki/Entware. However, on my RT-N66U, the startup script doesn't run the installed services/packages. I checked the script but couldn't make any sense of it. Perhaps due to my inexperience with Linux script.
Anyway, if you use the script I posted previously, it includes starting up all installed entware services/packages.
To install minidlna, just execute the following in SSH,
You'll then need to configure minidlna by editing the configuration file /opt/etc/minidlna.conf