Kernel signing error after mender integration in iMX 6UL

Yes, or you need to make sure that the image is signed during the build so that the images that you deploy using .mender files includes a signed image already.

If so, do you mind brief the role of boot partition?

In your case, it probably has no role. You should be able to disable it using,

MENDER_BOOT_PART_SIZE_MB = "0"
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