Thoggen is DVD ripping utility for Linux based on GTK+
It has a very nice Graphical front end
Supports title preview, picture cropping, and picture resizing.
Language Selection for audio track (no subtitle support yet though)
Encodes into Ogg/Theora video
Can encode from local directory with video DVD files
Based on the GStreamer multimedia framework, which makes it fairly easy to add additional encoding formats/codecs in future.
To install thoggen in ubuntu
$ sudo apt-get install thoggen