If you're having problems still, your CD drive might not be "multi-read" compatible. That meaning that it won't be able to read CDRs and CDRWs like what we've been dealing with.
Is your drive a standard CD-ROM (not a burner)? If so, then when you try the "mount -t udf blah blah" command above, you'll probably get a "mount: No medium found" error. If that's the case, then you're out of luck trying to mount the UDF formatted disc.
Hope that helps