$ lsdvd /dev/sr1
# see how many titles/chapters there are
$ for l in $(seq 21) ; do transcode -i /dev/sr1 -x dvd -T $l,1 -a 0 \
-y wav -m chapter${l}.wav ; done
# Now you have wav, encode with oggenc or lame
man pages for transcode/lsdvd are helpful. I tried to pull straight to
ogg based on some random webpage's suggestions but it didn't work for me
(ubuntu lucid), and wav did.
-Jeff