These are yocto errors, the way the yocto project names “zeus” and “thud” relate to petalinux releases can be found here. It does seem like a BSP incompatibility with the petalinux version.
You can find similar errors in forums posts like this and on this forum here. As I mentioned earlier, your best bet will probably be to upgrade it or find a 2020.2 version of the BSP. Or potentially build a v2.5 pynq image with 2019.1 tools, as per the original tutorial, just be weary that version is a bit old now so it’s not as well tested or supported these days.
Thanks
Shawn