mkdir -p ~/.local/share/file-manager/actions
nano ~/.local/share/file-manager/actions/qrcp.desktop
[Desktop Entry]
Type=Action
Name=Send with qrcp
Icon=utilities-terminal
Profiles=profile-one;
[X-Action-Profile profile-one]
MimeTypes=all/all;
Exec=lxterminal -e qrcp %F
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Give KDEConnect a try. Works on Windows,Linux and Android. Does much more than sending files locally