I use Nautilius to burn from side menu. This bug exists in Ubuntu for quite 
long already. Definitelly used to be in 11.04. 
In my case there is no eject button on CD itself. I've got Dell Studio 1558 and 
it has a slot CD with a button on a keyboard. Works fine for any other activity 
but after burning I get the error as above and need to reboot the system to get 
the CD/DVD out. Fortunatelly I do not burn a lot, but this is painful i.e. to 
burn multiple CD u need to reboot after each ;-)
Elect command from side menu of Nautilius does not work either.

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https://bugs.launchpad.net/bugs/904662

Title:
  CD/DVD Creator fails to eject disc after writing, or detect
  reinsertion after manual eject

Status in “brasero” package in Ubuntu:
  Incomplete

Bug description:
  This problem is common to both Nautilus and Brasero, so maybe this bug
  belongs to some library rather than to Brasero.

  When I attempt to burn a data disc, the write appears to succeed as
  "Success" subsequently shows up underneath the status bar of the
  CD/DVD Creator window.

  A second or two after this however, the status changes to "writing
  image checksum."  After more time passes, this box comes up:

  Please eject the disc from "HL-DT-ST DVDRAM GSA-T20L" manually.
  The disc could not be ejected though it needs to be removed for the current 
operation to continue.
  [Cancel]

  Manually ejecting and then reinserting the disc does not make this box
  go away.  The only way for the process to continue is to press Cancel,
  after which the CD is reported as "successfully burned."

  ProblemType: Bug
  DistroRelease: Ubuntu 11.10
  Package: nautilus 1:3.2.1-0ubuntu3.2
  ProcVersionSignature: Ubuntu 3.0.0-14.23-generic 3.0.9
  Uname: Linux 3.0.0-14-generic x86_64
  ApportVersion: 1.23-0ubuntu4
  Architecture: amd64
  Date: Thu Dec 15 20:57:56 2011
  ExecutablePath: /usr/bin/nautilus
  InstallationMedia: Ubuntu 10.10 "Maverick Meerkat" - Release amd64 (20101007)
  SourcePackage: nautilus
  UpgradeStatus: Upgraded to oneiric on 2011-09-12 (93 days ago)

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