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The easiest and probably most powerful way to burn CDs in Linux is with the cdrecord command. To make things easier there is a GUI program xcdroast that sets up and uses the command line options for cdrecord so that you do not need to know them. If you want to use the command line you can type this:
bash# cdrecord -v -eject image.iso
The -v option puts it in verbose mode so that you can see what is happening. The -eject causes the CD to eject after the burning has been completed.