command line mount helper for Ubuntu server?

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http://askubuntu.com – under Ubuntu there are several mount helpers to support easy mounting of encrypted (cryptsetup/luks) removable media such as USB drives. Under Gnome/Unity/XFCE a requester is opend, just enter the password, and everything is going well. Is there something like that under Ubuntu Server when logged in on the command line? pmount would be exactly what I am looking for, but does not support btrfs, and the maintainer has given up maintaing years ago. udisks does not support encrypted and get's confused by device-mapper paths. Any method to mount it in a single step? Or the manual way with cr (HowTos)