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To get the TFTP server ready to go, you should first make sure that tftpd is enabled.
In the case of tftpd-hpa there are two ways the service can be run. It can be started on demand by the system’s inetd daemon, or it can be set up to run as an independent daemon. Which of these methods is used is selected when the package is installed and can be changed by reconfiguring the package.
Note: Historically, TFTP servers used /tftpboot as directory to serve images from. However, Ubuntu packages may use other directories to comply with the Filesystem Hierarchy Standard (http://www.pathname.com/fhs/). For example, tftpd-hpa by default uses /srv/tftp. You may have to adjust the configuration examples in this section accordingly.
All in.tftpd alternatives available in Ubuntu should log TFTP requests to the system logs by default. Some of them support a -v argument to increase verbosity. It is recommended to check these log messages in case of boot problems as they are a good starting point for diagnosing the cause of errors.