Yagoburn (Yet Another Gui Optical BURNer) is an intuitive GUI wrapper around cdrkit and dvd+rw-tools for burning optical media on GNU/Linux systems. It uses the wxpython toolkit for the GUI, so it blends perfectly with a GTK+ environment, and is free from any heavy desktop environment dependencies.
Simpleburner is a simple CLI application to make burning CDs and DVDs easier. It writes a directory with your files to burn to a CD. You have to set up some things like ISO image name and location for it. It can be run in modes like test burn, makeiso-only, or burn-only. More information is included in the help message.
libburnia is a project comprised of libraries and binaries for reading, mastering, and writing optical discs. It provides libburn, a CD/DVD/BD burn library, libisofs, a manipulation library for ISO 9660 filesystems, and libisoburn, a ISO 9660 multi-session library. On top of them there is cdrskin, a cdrecord emulator, and xorriso, a all-in-one application for ISO 9660 multi-session operations which additionaly provides a limited emulation of mkisofs.