Easy peasy way to copy a DVD, not bothering about whether menus will copy and whether you need to worry about libdvdcss etc…
Simply use dd and growisofs
dd if=/dev/dvd of=DVD.iso
growisofs -dvd-compat -Z /dev/dvd=./foo.img
simple
Comics, Macs, RAID, Linux, Gentoo, some science and a dash of atheism. No longer a wet lab molecular biologist, I now work for MacVector, Inc.