It really is as simple as:

cdrecord -v dev=/dev/sr0 pathtoyourisoimage.iso

-v is for verbose, I prefer it but if you don't you won't see as much output like below (I like to know the details and exactly what's happening)

dev=/dev/sr0 specifies the device name of your burner (they say not to use it and to specify some weird annoying device string but using the raw /dev has always worked for me and is how it should have been implemented from the start IMHO)

cdrecord -v dev=/dev/sr0 isoimage.iso
wodim: No write mode specified.
wodim: Asuming -tao mode.
wodim: Future versions of wodim may have different drive dependent defaults.
TOC Type: 1 = CD-ROM
wodim: Operation not permitted. Warning: Cannot raise RLIMIT_MEMLOCK limits.scsidev: '/dev/sr0'
devname: '/dev/sr0'
scsibus: -2 target: -2 lun: -2
Linux sg driver version: 3.5.27
Wodim version: 1.1.9
SCSI buffer size: 64512
Device type    : Removable CD-ROM
Version        : 5
Response Format: 2
Capabilities   :
Vendor_info    : 'LITE-ON '
Identification : 'LTR-52327S      '
Revision       : 'QS0C'
Device seems to be: Generic mmc CD-RW.
Current: 0x0009 (CD-R)
Profile: 0x000A (CD-RW)
Profile: 0x0009 (CD-R) (current)
Profile: 0x0008 (CD-ROM)
Profile: 0x0002 (Removable disk)
Using generic SCSI-3/mmc   CD-R/CD-RW driver (mmc_cdr).
Driver flags   : MMC-3 SWABAUDIO BURNFREE FORCESPEED
Supported modes: TAO PACKET SAO SAO/R96P SAO/R96R RAW/R16 RAW/R96P RAW/R96R
Drive buf size : 1422080 = 1388 KB
Beginning DMA speed test. Set CDR_NODMATEST environment variable if device
communication breaks or freezes immediately after that.
FIFO size      : 12582912 = 12288 KB
Track 01: data   695 MB       
Total size:      798 MB (79:06.56) = 355992 sectors
Lout start:      798 MB (79:08/42) = 355992 sectors
Current Secsize: 2048
ATIP info from disk:
  Indicated writing power: 4
  Is not unrestricted
  Is not erasable
  Disk sub type: Medium Type A, low Beta category (A-) (2)
  ATIP start of lead in:  -12508 (97:15/17)
  ATIP start of lead out: 359845 (79:59/70)
Disk type:    Short strategy type (Phthalocyanine or similar)
Manuf. index: 22
Manufacturer: Ritek Co.
Blocks total: 359845 Blocks current: 359845 Blocks remaining: 3853
Forcespeed is OFF.
Speed set to 9173 KB/s
Starting to write CD/DVD at speed  52.0 in real TAO mode for single session.
Last chance to quit, starting real write in    0 seconds. Operation starts.
Waiting for reader process to fill input buffer ... input buffer ready.
Performing OPC...
Starting new track at sector: 0
Track 01:  695 of  695 MB written (fifo 100%) [buf  98%]  54.6x.
Track 01: Total bytes read/written: 729067520/729067520 (355990 sectors).
Writing  time:  145.315s
Average write speed  35.3x.
Min drive buffer fill was 94%
Fixating...
Fixating time:   10.840s
BURN-Free was never needed.
wodim: fifo had 11484 puts and 11484 gets.
wodim: fifo was 0 times empty and 6227 times full, min fill was 95%.

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