(I don't know if your use case is actually the same as this one, but it seems it is. So I copy the answer also here.)
I'm not sure if Sharepoint can pick the files from the filesystem or from email, but if any of these channels work, then you can do this:
See this tutorial video: http://youtu.be/sdt5wWrvy8k?autoplay=1
Also see this tutorial article: https://www.midori-global.com/products/better-pdf-automation-for-jira/server/documentation/
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