I have been having the same problem. I have managed to get my system to mount
UDF CDs, sort of, after some considerable research and configuration - which
most users will not have the time or knowledge to do.
In order to mount UDF CDs the package udftools needs to be installed and
configured. Then the system needs to mount /dev/pktcdvd/0.
So I think what this issue amounts to is that udftools should be installed as a
dependency for gnome-volume-manager with the appropriate configurations so that
gnome-volume-manager sorts out which file system is on the disc and automounts
the appropriate one.
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