drilling holes through a metal pipe isn't gonna be easy;
get a column drill (or a column drillholder ,basically regular drill in a special setup....),
then fix your pipe underneath the drill (dont hold it just with your hands; the drill can suddenly jam if you shift it a little and wreck your shit ! )
then take a centering nail (something like a nail) and tap a small dent where you want to drill (just enough so the drill wont slip off the tube)
then start drilling very gently, take your time to let it drill through!
(maybe start off with a small drill and then drill it out with a bigger drill....)
or if you have a welder or have a neighbour or friend with one, weld your complete setup or if you definately want it mounted on a wooden frame, just weld some small plates to the bottom of the pipe and drill your bolts through those plates and attach em to the wood....
good luck and be carefull when drilling through metal! its not like wood, it can suddenly jam and fuck you up badly !