The following packages need to be installed on your system:
Package Dependencies (apt-get install these for example):
-lsdvd dvdauthor gddrescue dvdbackup tovid mencoder mplayer genisoimage libdvdcss2
+lsdvd dvdauthor gddrescue dvdbackup tovid mencoder mplayer genisoimage libdvdcss2 gpac ogmtools
NOTE: In Ubuntu, depending on your version, replace libdvdcss2 with what you find on this page.
https://help.ubuntu.com/community/RestrictedFormats/PlayingDVDs