Please clarify if this is the way it should work in Lucid.

After waiting for a patched udev release I'm currently running udev 151-12 on Lucid amd64 beta2 up to date.

from my fstab, (same as Karmic):  /dev/sr0   /media/cdrom0   udf,iso9660 user,noauto,exec,utf8 0       0

Two devices connected to the IDE port:

    dvd r/w: /dev/sr1
    legacy zipdrive: /media/ntfs-1 (not listed in fstab)

When media is inserted at zipdrive no auto mounting occurs although media can be seen at Places/Computer and root mounted from there.

from syslog:

Apr 19 09:20:31 lm-xfx kernel: [61326.651464] sd 0:0:1:0: [sda] Spinning up disk.....
Apr 19 09:20:34 lm-xfx kernel: [61332.648035] sd 0:0:1:0: [sda] Spinning up disk......ready
Apr 19 09:20:34 lm-xfx kernel: [61335.674224] sd 0:0:1:0: [sda] READ CAPACITY(16) failed
Apr 19 09:20:34 lm-xfx kernel: [61335.674231] sd 0:0:1:0: [sda] Result: hostbyte=DID_ERROR driverbyte=DRIVER_OK
Apr 19 09:20:34 lm-xfx kernel: [61335.674239] sd 0:0:1:0: [sda] Sense not available.
Apr 19 09:20:34 lm-xfx kernel: [61335.675155] sd 0:0:1:0: [sda] 196576 512-byte logical blocks: (100 MB/95.9 MiB)
Apr 19 09:20:34 lm-xfx kernel: [61335.685737] sd 0:0:1:0: [sda] READ CAPACITY(16) failed
Apr 19 09:20:34 lm-xfx kernel: [61335.685746] sd 0:0:1:0: [sda] Result: hostbyte=DID_ERROR driverbyte=DRIVER_OK
Apr 19 09:20:34 lm-xfx kernel: [61335.685753] sd 0:0:1:0: [sda] Sense not available.
Apr 19 09:20:34 lm-xfx kernel: [61335.697501]  sda: unknown partition table


When a written CD is inserted, its icon becomes available at "Places". Different from Karmic, the icon has to be clicked to mount it. 

When a blank CD is inserted, the same happens, the icon becomes available but as empty CD, it cannot be mounted, although (it seems) it can be accessed by a CD burning application.

If I try to mount  a blank CD the following error is displayed:

Unable to mount cdrom0

mount: block device /dev/sr0 is write-protected, mounting read-only
mount: wrong fs type, bad option, bad superblock on /dev/sr0,
missing codepage or helper program, or other error
(could this be the IDE device where you in fact use
ide-scsi so that sr0 or sda or so is needed?)
In some cases useful info is found in syslog - try
dmesg | tail  or so

From syslog (partial):

Apr 19 08:55:24 lm-xfx kernel: [59826.067516] cdrom: This disc doesn't have any tracks I recognize!
Apr 19 08:55:24 lm-xfx kernel: [59826.075988] sr 0:0:0:0: [sr0] Result: hostbyte=DID_OK driverbyte=DRIVER_SENSE
Apr 19 08:55:24 lm-xfx kernel: [59826.076000] sr 0:0:0:0: [sr0] Sense Key : Illegal Request [current] 
Apr 19 08:55:24 lm-xfx kernel: [59826.076010] sr 0:0:0:0: [sr0] Add. Sense: Illegal mode for this track
Apr 19 08:55:24 lm-xfx kernel: [59826.076025] sr 0:0:0:0: [sr0] CDB: Read(10): 28 00 00 00 00 00 00 00 01 00
Apr 19 08:55:24 lm-xfx kernel: [59826.076041] end_request: I/O error, dev sr0, sector 0
Apr 19 08:55:24 lm-xfx kernel: [59826.076049] __ratelimit: 40 callbacks suppressed
Apr 19 08:55:24 lm-xfx kernel: [59826.076054] Buffer I/O error on device sr0, logical block 0
Apr 19 08:55:24 lm-xfx kernel: [59826.078225] sr 0:0:0:0: [sr0] Result: hostbyte=DID_OK driverbyte=DRIVER_SENSE
Apr 19 08:55:24 lm-xfx kernel: [59826.078232] sr 0:0:0:0: [sr0] Sense Key : Illegal Request [current] 
Apr 19 08:55:24 lm-xfx kernel: [59826.078238] sr 0:0:0:0: [sr0] Add. Sense: Illegal mode for this track
Apr 19 08:55:24 lm-xfx kernel: [59826.078248] sr 0:0:0:0: [sr0] CDB: Read(10): 28 00 00 00 00 00 00 00 01 00
Apr 19 08:55:24 lm-xfx kernel: [59826.078261] end_request: I/O error, dev sr0, sector 0
....