mkisofs is a wonderful utility to generate ISO images. To generate a compatible ISO images on a disc which are readable everywhere, consider the following commands

# mkisofs -rdlJ -o disc_directory_image.iso directory/

-r : “Rock Ridge” format is enabled to allow long filenames on UNIX systems
-J : allow long filenames on Windows Systems
-l : Allow full 31-character filenames.
-d : Do not append a period to files that do not have one which violate ISO9660