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You can use hdiutil to convert from .dmg to .iso directly:
$ hdiutil makehybrid -iso -joliet -o [filename].iso [filename].dmg
Renaming .cdr to .iso is bad advice! An .iso has a slightly different format that allows PC users to play the DVD as well. A renamed file will work on macOS, but NOT on a PC.
If you have a .cdr and want to convert it to an .iso, execute:
$ hdiutil makehybrid -iso -joliet -o [filename].iso [filename].cdr