You should have had two udi, the first one should be used and rather look like: 
/org/freedesktop/Hal/devices/volume_...
did you type:
   hal-device | egrep " udi|scd0" | grep -B 1 scd0
while the DVD-R was in the drive ?

If even with the dvd in the drive, you do not have the good udi, then hal 
should be the problem.
Do:
    - eject the dvd if present in the drive
    - stop hal:  sudo /etc/init.d/hal stop
    - launch in verbose mode: sudo su -s /bin/sh haldaemon -c "hald --daemon=no 
--verbose=yes" >/tmp/hal.debug.txt 2>&1
    - wait several seconds that hal finished its startup
    - insert the dvd 
    - wait several seconds
    - type ctrl+c
    - relaunch hal: sudo /etc/init.d/hal start

and attach the hal.debug.txt file

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