This is a shortened version of udev and DVD/CD RW under debian unstable for non-udev systems.
To get CD and DVD burning running under debian on a 2.6.x kernel
Under 2.6 ide-scsi (SCSI emulation) is deprecated. It's recommended to use ide-cd instead.
So - you need to make sure you're using ide-cd. Any references to ide-scsi need to be removed from lilo (and grub if that required the references).
Make sure that ide-cd is loaded (modprobe ide-cd) - you may want to add it to /etc/modules
Now - make sure that your /dev directory is correctly set up
For example on my box:
$ ls -l /dev/cd* /dev/dvd* /dev/hdc lrwxrwxrwx 1 root root 3 Jan 4 08:10 /dev/cdrom -> hdc lrwxrwxrwx 1 root root 3 Jan 4 08:10 /dev/cdrw -> hdc lrwxrwxrwx 1 root root 3 Jan 4 08:10 /dev/dvd -> hdc brw-rw---- 1 root cdrom 22, 0 Jan 4 08:10 /dev/hdc
Now - to use cdrecord - I use
cdrecord dev=/dev/cdrw /path/to/image.iso
Note - due to some access problems in the kernel - I use this via sudo.
Edit: Merged both articles into one and placed it on Debian Administration