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Creating and Mounting an ISO file, UDF2.50, or bluray BD-ISO image:

# mkfile 1G roger.iso

# newfs_udf -r 2.60 -v ROGER roger.iso 

# hdiutil attach -imagekey diskimage-class=CRawDiskImage -nomount roger.iso

# hdiutil mount -nobrowse /dev/disk5
/dev/disk5                                              /Volumes/ROGER

Naturally, you can mount it on the attach line, but I wanted to separate the two stages. Copy files to /Volume/ROGER, then use hdiutil to unmount and detach.