I have found a way to reduce CPU load without entirely stopping the udev
queue.

Create /etc/udev/rules.d/my.rules file, and put the following line into it: 
KERNEL=="sr1", ACTION=="change", WAIT_FOR="nothing"

This will introduce a 10 seconds delay when processing 'change' events
from /dev/sr1. As a result, CPU load returns to normal. I did not notice
any negative side effects so far. Other udev events seem to get
processed normally.

This is still a work-around, not a solution. The solution would be to
find out exactly what's wrong with the existing udev rules, and fix the
problem there.

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https://bugs.launchpad.net/bugs/780266

Title:
  udevd takes 100% of cpu

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