Adrian,
Once you've selected your images, in the Export dialog (CMD +Shift +E), there's preset to burn full size JPEG. You only need to create a folder on your desktop (or anywhere in fact) and point Lightroom to that folder - you can also point LR to an existing folder. LR will process your RAW files and place them in that folder then you only have to place a blank CD or DVD into your CD/DVD player.