from the command line su to root.
then;
mkdir /mnt/cdrom
mount /dev/cdrom /mnt/cdrom -- this might be /dev/cdrom0 or cdrom1 etc.
cd /mnt/cdrom
cp <fileName> <toDestination>
FYI, [blue]/dev/cdrom[/blue] is the device and [green]/media/cdrom[/green] is the mount point, two different areas of the filesystem. Most recent *nix desktops use /media/{device} as automatic mount points for onboard devices.
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