Reference:
https://github.com/xilinx
https://china.xilinx.com/support/download.html

download petalinux-v2019.1-final-installer.run
download xilinx-zcu102-v2019.2-final.bsp

$ sudo apt-get install -y gcc git make net-tools libncurses5-dev tftpd zlib1g-dev libssl-dev flex bison libselinux1 gnupg wget diffstat chrpath socat xterm autoconf libtool tar unzip texinfo zlib1g-dev gcc-multilib build-essential-dev zlib1g:i386 screen pax gzip
$ mkdir -p petalinux
$ ./petalinux-v2019.1-final-installer.run ./petalinux
$ cd ./petalinux
$ source settings.sh
$ petalinux-util --webtalk off
$ cd ..
$ mkdir petalinux-prj
$ cd petalinux-prj
$ petalinux-create -t project -s ../xilinx-zcu102-v2019.2-final.bsp
$ cd xilinx-zcu102-v2019.2
$ petalinux-config
  # generate u-boot source to xilinx-zcu102-v2019.2/components/plnx_workspace/sources/u-boot-xlnx
$ petalinux-config -c u-boot   
$ petalinux-config -c kernel
$ petalinux-config -c rootfs
$ petalinux-config -c fsbl
$ petalinux-build
$ petalinux-build -c u-boot
$ petalinux-build -c kernel
$ petalinux-build -c device-tree
$ petalinux-boot --qemu --prebuilt 3