SD card setup

Use at least >=8 GB card
Install and lunch gparted (in Debian Stretch use sudo gparted instead of gprated-pkexec)
Setup two partitions:

BOOT (64MB (512 MiB), FAT32, bootable flag) with 4MB empty space ahead
rootfs (rest, ext4)

Copy filesystems:

Mount the formatted card

Petalinux 2018.3: Copy boot and kernel: (for boot_project_name see Boot and Kernel configure & build with PetaLinux without BSP (board support package))

cd <boot_project_path>/<boot_project_name>
sudo cp ./images/linux/BOOT.BIN ./images/linux/?mage* ./images/linux/?ystem.* ./images/linux/u-boot.bin ./images/linux/vmlinux <sd_card_mount_point>/BOOT/
sync

// old: sudo cp ./images/linux/* <sd_card_mount_point>/BOOT/

Petalinux 2020.2: Copy boot and kernel: (for boot_project_name see Boot and Kernel configure & build with PetaLinux without BSP (board support package))

cd <boot_project_path>/<boot_project_name>
sudo cp ./images/linux/BOOT.BIN ./images/linux/?mage* ./images/linux/?ystem.* ./images/linux/u-boot.bin ./images/linux/vmlinux ./images/linux/boot.scr <sd_card_mount_point>/BOOT/
sync

Copy root filesystem:

cd <rootfs_path>
sudo cp -a rootfs/* <sd_card_mount_point>/rootfs/
sync

Umount BOOT and rootfs