You need to install this package:

$ lsyncd -log all -nodaemon -rsyncssh <local_path> <user>@<ip> <remote_path>

An example is to sync a folder with code:

$ lsyncd -delay 1 -log all -nodaemon -rsyncssh app hetzner /data/zet/source/src

Source

It is possible to create a config file as explained in the docs, one example:

sync {
  default.rsyncssh,
  source="/home/facien/win/gitRepos/zet/zet.space",
  host="fran",
  exclude="node_modules",
  targetdir="/data/zet/web",
  delay="1"
}

You can invoke the last config file without daemon as:

$ lsyncd -nodaemon lsync.conf