Had similar problem with my cdrom drive.  Found the reason and solution to my 
problem here: 
http://ubuntuforums.org/showthread.php?t=1025786

Solved my problem by removing the the udf from my /etc/fstab where my cdrom was 
mounted from:
/dev/scd0 /media/cdrom0 udf,iso9660 user,noauto,exec,utf8 0 0   to
/dev/scd0 /media/cdrom0 iso9660 user,noauto,exec,utf8 0 0

then remount your cdrom (e.g. mount /media/cdrom0)

Lucid is mounting with udf option in fstab.

Mounting the filesystem as iso9660 doesn't observe file permissions.
Mounting as UDF does. Unfortunately, many disk burning applications
leave -1 in the uid and gid permissions of their udf filesystems. This
causes a permission problem in Linux.

The only way to read CD's as a user is by mounting UDF filesystems on
cdrom as iso9660.  Makes sense....

-- 
[Lucid] cdrom drive not recognized automatically
https://bugs.launchpad.net/bugs/562092
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Bugs, which is a bug assignee.

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