If you have a directory structure that you want bundled into a ISO image, issue the command:
mkisofs -o MyImage.iso -J dirName
To burn the image onto a DVD/CDROM use the following command:
cdrecord -v dev=X,X,X MyImage.iso
where X,X,X is determined by issuing the command:
cdrecord --scanbus
and selecting the appropriate device
You can examine the contents of an ISO image by mounting loopback as follows:
mount -o loop MyIsoImage.iso /mnt/iso
Issuing a 'find /mnt/iso' will show the contents of the image.