(source: https://ubuntuforums.org/showthread.php?t=2382108, solution provided by clapac)
1. Create a new udev rule file:
cd /etc/udev/rules.d/
sudo vim 100-iphone-usbmuxd.rules
( * the file name is formed by PRIORITY-whatever.rules, you can use 99-mynewrules.rules, for example)
2. Insert the following lines into the created rules file:
ENV{DEVTYPE}==”usb_device”, ACTION==”add”, SUBSYSTEM==”usb”, ATTR{idVendor}==”05ac”, ATTR{idProduct}==”129[0-9abcef]”, RUN+=”/usr/sbin/usbmuxd -u -U usbmux”
ENV{DEVTYPE}==”usb_device”, ACTION==”add”, SUBSYSTEM==”usb”, ATTR{idVendor}==”05ac”, ATTR{idProduct}==”12a[0-9ab]”, RUN+=”/usr/sbin/usbmuxd -u -U usbmux”
ENV{DEVTYPE}==”usb_device”, ACTION==”add”, SUBSYSTEM==”usb”, ATTR{idVendor}==”0fca”, ATTR{idProduct}==”8014″, RUN+=”/usr/sbin/usbmuxd -u -U usbmux”
3. Save the file.
4. Run the following command to reload the udev rules:
sudo udevadm control –reload-rules
5. Test it, unplugging the iPhone and reconnecting it.