Terasic DE10 Standard kit and Intel Cyclone V SOC kit

Hello everyone,

I am having a project running OpenCL on FPGA. I want to buy the Cyclone V kit, and just see that there are 2 boards using Cyclone V. Terasic DE10 Standard kit and Intel Cyclone V SoC kit. The Tarasic DE10- standard does not have PCIe but Intel Cyclone V Soc does have it. I am a beginner to FPGA and would like to ask some questions:

1) Terasic DE10 Standard connect to PC(host) via USB port?

2) Can I code OpenCL host program on my PC ( cause I think that we can code host program on Arm processor in FPGA) ?

3) If anyone know ROS (Robot Operating System), I want to ask can I integrate my program on ROS environment ? because I need to test the program on robots

Thank you very much