I have an iPhone 6s and would like it to work like how it does when I plug it into windows (file manager detects it and I can see photos) is there a way of doing this or a program like iTunes?
If you don't find a solution on the Linux side, consider an IOS app called Phone Drive.
The app will start web and FTP servers on the phone providing direct upload/download access to your Camera Roll. Your other apps can easily "Share" their data with its temp directory, making nearly everything on the phone accessible to any device with a web browser or FTP client. For all of $1.99.