Various Info
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http://members.aol.com/mpucoder/DVD/index.html
http://dvd.sourceforge.net/

Try this:

./gst-launch dvdnavsrc location=/dev/dvd ! dvddemux .current_video ! { queue ! mpeg2dec ! xvimagesink } dvddemux0.current_audio ! { queue ! a52dec ! osssink }

You can give title, chapter, and angle parameters to dvdnavsrc.