If you are prepared to use the terminal it may be possible to directly convert the .vob files from the DVD with either ffmpeg or avconv, depending on which version of ubuntu you are using.
Code:
ffmpeg -i file.vob -vcodec mpeg2video -sameq -ab 128k outfile.mpg
or
Code:
avconv -i file.vob -vcodec mpeg2video -q# -ab 128k outfile.mpg
-q# is vbr quality - 1(high) - 9(low)
You will, of course, need all the codecs necessary for decoding and encoding the files, but that would also be the case if you used any of the GUI applications available, none of which I have any experience of.
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