I encountered the same error when initiating this example.
To resolve it, I followed the error message's guidance by executing the Hardware Setup for the SoC Blockset Support Package for AMD FPGA and SoC Devices.
The createCustomPynqZ2Board function performs an internal check for Xilinx Linux Binaries (precompiled software packages provided by Xilinx, now AMD), which are integral components of the instruction set. After completing the setup and installing all the necessary libraries as prompted, the error was successfully resolved:
