xorriso is a command line and dialog application, which creates, loads, manipulates and writes ISO 9660 filesystem images with Rock Ridge extensions.
It maps file objects from POSIX compliant filesystems into Rock Ridge enhanced ISO 9660 filesystems and allows session-wise manipulation of such filesystems. It can load the management information of existing ISO images and it writes the session results to optical media or to filesystem objects.
Vice versa xorriso is able to restore file objects from ISO 9660 filesystems to the disk filesystem. To avoid unpleasant user surprises this feature has first to be enabled by option -osirrox.
A special property of xorriso is that it needs neither an external ISO 9660 formatter program nor an external burn program for CD or DVD but rather incorporates the libraries of libburnia-project.org . Especially it is related to libisoburn.
Have a look at xorriso home page which gives some examples, its man page, and its installation instructions.
