A TFTP (Trivial File Transfer Protocol) server can be used to test kernel images on your embedded target and speed up development.

To install a TFTP server on ubuntu, run:

sudo apt-get install tftpd

Then, create a file in /etc/xinetd.d/ called tftp and add the following :

# description: The tftp server serves files using the trivial file transfer
#       protocol.  The tftp protocol is often used to boot diskless
#       workstations, download configuration files to network-aware printers,
#       and to start the installation process for some operating systems.
service tftp
        socket_type             = dgram
        protocol                = udp
        wait                    = yes
        user                    = root
        server                  = /usr/sbin/in.tftpd
        server_args             = -s /home/cpeacock/export
#       disable                 = yes
        per_source              = 11
        cps                     = 100 2

And to apply the changes, execute:

sudo service xinetd restart