Get the software

sudo apt-get install tftpd-hpa

Check the status of tftp server. If it is not running, start it.

sudo service tftpd-hpa status

The output looks like following…

.service - LSB: HPAs tftp server
   Loaded: loaded (/etc/init.d/tftpd-hpa; bad; vendor preset: enabled)
   Active: active (running) since Wed 2017-04-05 21:47:18 IST; 5min ago
     Docs: man:systemd-sysv-generator(8)
  Process: 24085 ExecStart=/etc/init.d/tftpd-hpa start (code=exited, status=0/SUCCESS)
   CGroup: /system.slice/tftpd-hpa.service
           └─24099 /usr/sbin/in.tftpd --listen --user tftp --address :69 --secure /tftpboot

If output is nothing, start the server:

$ sudo service tftpd-hpa start

By default, the directory to store files is /var/lib/tftpboot.

This can be changed in tftpd-hpa configuration file.

$ cat /etc/default/tftpd-hpa
# /etc/default/tftpd-hpa
TFTP_USERNAME="tftp"
TFTP_DIRECTORY="/var/lib/tftpboot"
TFTP_ADDRESS="[::]:69"
TFTP_OPTIONS="--secure"

Change TFTP_DIRECTORY to desired folder.

Restart the server, if configuration file changed.

sudo service tftpd-hpa restart

To stop tftp server:

sudo service tftpd-hpa stop