Edit /etc/fstab (as root) and in about the fourth column along you'll see some options that say things like "defaults" "user" "noauto" and a few others. Find the line containing /mnt/cdrom in the second column and in the fourth column add the word "user" which means "allow users to mount". Now normal users can mount the CD drive and you don't have to be root.
/dev/cdrom /mnt/cdrom iso9660 noauto,user,ro 0 0
that's a line from mine. ro is read-only, noauto means not to mount at start up - you don't want automount for removable media, generally.
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