atftpd software package provides advanced TFTP server, you can install in your Ubuntu 16.04 LTS (Xenial Xerus) by running the commands given below on the terminal,
$ sudo apt-get update $ sudo apt-get install atftpd
atftpd is installed in your system.
Make ensure the atftpd package were installed using the commands given below,
$ sudo dpkg-query -l | grep atftpd *
You will get with atftpd package name, version, architecture and description in a table
| Distro | Ubuntu 16 04 lts xenial xerus |
| Section | Network |
| Package | atftpd |
| Version | 0.7.git20120829-2.1 |
| Description | advanced TFTP server |
| Sub Section | Net |