AllegroCDFS needs a piece of Elbox hardware as a dongle. If you have such, you can download it for free from
http://www.elbox.com/downloads.htmlBut as Alexh wrote, its UDF support is practically non-existant. Most DVDs with UDF have also an ISO file system and if so, AllegroCDFS fails to read the data in the same way as any other CD file system.
To say is positively, most DVDs up to 4GB can be read by every CD file system.
Don't mix up UDF with packet-writing. Neither AllegroCDFS nor any other CD file system can read data from a DVD+/-RW which is formatted as a random access disk.