Install tftp server

Install tftp server package
sudo apt-get install -y xinetd tftpd tftp

Create xinetd tftp configuration

cat <<EOF> /etc/xinetd.d/tftp
service tftp
{
protocol        = udp
port            = 69
socket_type     = dgram
wait            = yes
user            = nobody
server          = /usr/sbin/in.tftpd
server_args     = /tftpboot
disable         = no
}
EOF

Create /tftpboot folder
sudo mkdir /tftpboot
sudo chmod -R 777 /tftpboot
sudo chown -R nobody /tftpboot

Restart the xinetd service
sudo service xinetd restart

Testing our tftp server
tftp 192.168.1.2
get testfile
quit

Links
https://askubuntu.com/questions/201505/how-do-i-install-and-run-a-tftp-server