I suggest SafeCopy! It works properly (at least for me) and is very simple to install and use.

You may install it using sudo apt-get -install safecopy

I suggest you to use three pre-defined stages as follows (suppose that your CD/DVD device file is /dev/cdrom):

safecopy --stage1 /dev/cdrom /tmp/mycd.iso
safecopy --stage2 /dev/cdrom /tmp/mycd.iso
safecopy --stage3 /dev/cdrom /tmp/mycd.iso