Let's throw some more logging at this, maybe something will turn up.
You'll need a couple of open Terminal windows for this.

Please set up the situation which fails (i. e. no CD-ROM inserted), and
do not plug in the USB stick yet.

Terminal 1:
sudo /usr/lib/devicekit-disks/devkit-disks-daemon --replace > 
/tmp/dk-disks-debug.txt 2>&1

Terminal 2:
devkit-disks --monitor-detail > /tmp/dk-disks-monitor.txt

Terminal 3:
udevadm monitor --udev -e > /tmp/udev.txt

Terminal 4:
sudo killall hald
sudo hald --verbose=yes --daemon=no > /tmp/hal-debug.txt 2>&1

Terminal 5:
lshal -m > /tmp/lshal-monitor.txt

Now insert the USB stick and confirm that it wasn't detected. Wait a
couple of seconds, then press Control-C in all five terminals. Do

  sudo hald

to start the background hal process again.

Now attach the five log files in /tmp/*.txt.

Thanks!

** Changed in: hal (Ubuntu)
       Status: New => Incomplete

** Changed in: devicekit-disks (Ubuntu)
       Status: New => Incomplete

-- 
hal does not properly enumerate USB devices unless CD-ROM inserted as first 
device
https://bugs.launchpad.net/bugs/438316
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