yes, I first thought that your DVD-R was mounted iso9660 under feisty
and gutsy.

Concerning the first problem under feisty, indeed there is a bug with the mount 
command, here is what happens:
     - it tries mount with udf, it fails because it can't mount it read-write
     - it tries mount with iso9660, it fails because it can't mount it 
read-write

then it tries to mount it readonly, but it didn't reinitialize the fs types 
list and retry with iso9660 instead of udf, so:
      - it tries to mount directly with iso9660 and succeeds.

This bug has been fixed in gutsy, I don't know how to have bug fixed in feisty, 
maybe you can request a backport.
However there is an easy workaround, just add the ro option for the cdrom in 
/etc/fstab:
    /dev/scd0       /media/cdrom0   udf,iso9660 user,noauto,ro     0       0

Then mount will directly succeed to mount the dvd with udf even under
feisty (with the mount command).


Concerning your second problem, that's a different bug, but can you do this ?
   hal-device | egrep " udi|scd0" | grep -B 1 scd0
and retrieve the udi of the cdrom device (take the first one)

then do: 
   gnome-mount --hal-udi <the_udi_found>

does it mount the DVD ?

If it doesn't work, do:
    sudo strace -f gnome-mount --hal-udi <the_udi_found> 2> 
gnome-mount.strace.txt

and attach the trace file.

-- 
Mounting UDF should be preferred over ISO9660
https://bugs.launchpad.net/bugs/112584
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