i use redhat 7.2 - it doesn't automatically do the scsi-emu (like mandrake), so i had to do all this. i have successfully burned data and audio cd's using xcdroast as root. here's what i did:
1) you do not need a kernel recompile - just have the scsi emu mods loaded at boot. edit /etc/lilo.conf:
append="hdc=ide-scsi"
#where hdc is the ide device
OR for multipile drives do
append="hdc=ide-scsi hdd=ide-scsi"
2) edit /etc/modules.conf
options ide-cd ignore=hdc
pre-install sg modprobe ide-scsi
now if cdrecord -scanbus already reveals some devices, then your devs/mods are already setup. if not then these changes should get them recognized.
now when you run xcdroast you shouldn't get that scsi-bus error IF you are root (i think you can set the device permissions and/or cdrecord permissions to avoid root only mode). if xcdroast starts w/out complaining then all that's left to do is figure out how to use cdrcord/xcdroast. i'll leave that to you and the cd writing howto...