Google "ADA style light bar" and you should find a detail thread by Tom Barr.
I have done copper pipes before. You take a cap and drill. Use a dry wall anchor and screw it in. Pretty simple looking, not the most attractive but it works and doesn't add much on the wall compared to a shelf/bracket
The next is just that, use a shelf.
Kathyy's idea is also very good. Get a board, dress it up and find the studs. Then you can attach whatever to it.