Uploading File to Sharepoint 2010 using PS

Ok, I'm a novice to both Sharepoint and Powershell.  Have looked up many ways to script uploading a file to Sharepoint.  So here's where I am now stuck.  Here is the script:

if((Get-PSSnapin "Microsoft.SharePoint.PowerShell") -eq $null)
    Add-PSSnapin Microsoft.SharePoint.PowerShell
#Script settings
$webUrl = "http://sharepointserver
#SharePoint Library Name
$SPLibraryName = "Documents"
#library URL  
$SPLibraryUrl = "http://sharepointserver/sites/ost/documents
#Location where from you want to upload file to SharePoint lib.
$localFolderPath = "C:\Dockets"
#Open web and library
 #Site URL
$web = Get-SPWeb $webUrl
 #Libray Name
$docLibrary = $web.Lists[$SPLibraryName]
 #Getting All Files
 $files = ([System.IO.DirectoryInfo] (Get-Item $localFolderPath)).GetFiles()
ForEach($file in $files)
    #Open file
    $fileStream = ([System.IO.FileInfo] (Get-Item $file.FullName)).OpenRead()
    #Add file
    $folder =  $web.getfolder($SPLibraryUrl)
    write-host "Copying file " $file.Name " to " $folder.ServerRelativeUrl "..."
    $spFile = $folder.Files.Add($folder.Url + "/" + $file.Name, [System.IO.Stream]$fileStream, $true)
    write-host "Success"
    #Close file stream
#Dispose web

Here is the error I get:  

Exception calling "Add" with "3" argument(s): "<nativehr>0x80070003</nativehr><nativestack></nativestack>There is no file with URL 'http://sharepointserver/sites/ost/documents/<filename>,pdf' in this
At C:\Scripts\CopyFilesSP.ps1:41 char:32
+     $spFile = $folder.Files.Add <<<< ($folder.Url + "/" + $file.Name, [System.IO.Stream]$fileStream, $true)
    + CategoryInfo          : NotSpecified: (:) [], MethodInvocationException
    + FullyQualifiedErrorId : DotNetMethodException
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garberj76Author Commented:
I should clarify this is Sharepoint 2010 and I'm running this on the server where Sharepoint is hosted.  I apology in advance, I am very new to Sharepoint.
Bob LearnedCommented:
I read here, and it looks like you just need the file name, and not the folder URL.

Weekend Scripter: Use PowerShell to Upload a New File Version to SharePoint

# Add the Snapin
Add-PSSnapin Microsoft.SharePoint.PowerShell

# Retrieve specific Site
$spWeb = Get-SPWeb http://SP01

# Create instance of Folder
$spFolder = $spWeb.GetFolder("Shared Documents")

# Get the file on Disk that we want to upload
$file = Get-Item C:\Documents\MyDoc.docx

# upload the file.
$spFolder.Files.Add("Shared Documents/MyDoc.docx",$file.OpenRead(),$false)

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garberj76Author Commented:
Thanks, Bob.  Sorry for the delay.  For now, this seems to have fixed my problem.
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