# dmesg | grep -E "CD.*RW" -A 1
scsi 1:0:0:0: CD-ROM Optiarc DVD RW AD-7200A 1.05 PQ: 0 ANSI: 5
sr0: scsi3-mmc drive: 125x/125x writer dvd-ram cd/rw xa/form2 cdda tray

Здесь видно, что пишущему приводу соответствует устройство /dev/sr0. На него есть также симлинки:
$ ls -l /dev/dvdrw
lrwxrwxrwx 1 root root 3 Июн 4 19:32 /dev/dvdrw -> sr0
$ ls -l /dev/dvd
lrwxrwxrwx 1 root root 3 Июн 4 19:32 /dev/dvd -> sr0

Затем создаем iso-образ или берем готовый и записываем:

# cdrecord -v -dev=/dev/sr0 -blank=fast /mnt/sda2/temp/CentOS-5.2-i386-LiveCD.iso
wodim: No write mode specified.
wodim: Asuming -tao mode.
wodim: Future versions of wodim may have different drive dependent defaults.
TOC Type: 1 = CD-ROM
scsidev: '/dev/sr0'
devname: '/dev/sr0'
scsibus: -2 target: -2 lun: -2
Linux sg driver version: 3.5.27
Wodim version: 1.1.8
SCSI buffer size: 64512
Device type : Removable CD-ROM
Version : 5
Response Format: 2
Capabilities :
Vendor_info : 'Optiarc '
Identification : 'DVD RW AD-7200A '
Revision : '1.05'
Device seems to be: Generic mmc2 DVD-R/DVD-RW.
Current: 0x000A (CD-RW)
Profile: 0x002B (DVD+R/DL)
Profile: 0x001B (DVD+R)
Profile: 0x001A (DVD+RW)
Profile: 0x0016 (DVD-R/DL layer jump recording)
Profile: 0x0015 (DVD-R/DL sequential recording)
Profile: 0x0014 (DVD-RW sequential recording)
Profile: 0x0013 (DVD-RW restricted overwrite)
Profile: 0x0012 (DVD-RAM)
Profile: 0x0011 (DVD-R sequential recording)
Profile: 0x0010 (DVD-ROM)
Profile: 0x000A (CD-RW) (current)
Profile: 0x0009 (CD-R)
Profile: 0x0008 (CD-ROM) (current)
Profile: 0x0002 (Removable disk)
Using generic SCSI-3/mmc CD-R/CD-RW driver (mmc_cdr).
Driver flags : MMC-3 SWABAUDIO BURNFREE
Supported modes: TAO PACKET SAO SAO/R96R RAW/R96R
Drive buf size : 866304 = 846 KB
Beginning DMA speed test. Set CDR_NODMATEST environment variable if device
communication breaks or freezes immediately after that.
FIFO size : 4194304 = 4096 KB
Track 01: data 696 MB
Total size: 800 MB (79:17.94) = 356846 sectors
Lout start: 800 MB (79:19/71) = 356846 sectors
Current Secsize: 2048
ATIP info from disk:
Indicated writing power: 3
Reference speed: 6
Is not unrestricted
Is erasable
Disk sub type: High speed Rewritable (CAV) media (1)
ATIP start of lead in: -11240 (97:32/10)
ATIP start of lead out: 359849 (79:59/74)
1T speed low: 4 1T speed high: 10
2T speed low: 4 2T speed high: 0 (reserved val 6)
power mult factor: 1 5
recommended erase/write power: 5
A1 values: 24 1A D8
A2 values: 26 B2 4A
Disk type: Phase change
Manuf. index: 27
Manufacturer: Prodisc Technology Inc.
wodim: Cannot get next writable address for 'invisible' track.
wodim: This means that we are checking recorded media.
wodim: This media cannot be written in streaming mode anymore.
wodim: If you like to write to 'preformatted' RW media, try to blank the media first.
wodim: WARNING: Data may not fit on standard 74min disk.
Speed set to 1764 KB/s
Starting to write CD/DVD at speed 10.0 in real TAO mode for single session.
Last chance to quit, starting real write in 0 seconds. Operation starts.
Waiting for reader process to fill input buffer ... input buffer ready.
Performing OPC...
Blanking PMA, TOC, pregap
Blanking time: 17.965s
Performing OPC...
Starting new track at sector: 0
Track 01: 696 of 696 MB written (fifo 100%) [buf 100%] 10.2x.
Track 01: Total bytes read/written: 730816512/730816512 (356844 sectors).
Writing time: 481.694s
Average write speed 10.0x.
Min drive buffer fill was 100%
Fixating...
Fixating time: 31.676s
BURN-Free was never needed.
wodim: fifo had 11512 puts and 11512 gets.
wodim: fifo was 0 times empty and 11422 times full, min fill was 78%.

Для любителей графических интерфейсов есть k3b (обычно имеется в стандартных репозиториях) или проприетарный Nero.

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