I use dvdrtools, a fork of the GPL version of cdrecordI used to use that, but it wasn't able to burn at 4x on my TDK burner, or at all on my 8x Liteon burner. I've switched to dvd+rw-tools and have been very happy with it.
The article points out that dvd+rw-tools supports DVD+RW and DVD-RW, but did not mention that it supports DVD+R and DVD-R as well.
For data CDs I still use cdrecord, and for audio CDs I use cdrdao.
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