FYI -- I've been getting good results using a one-two combination of Mac-the-Ripper for getting it off the DVD, and DVD Audio Extractor for getting the audio out of the .VOB files. I've been having some problems, and the one guy has been very responsive.
And yes, it's from DVD's I own -- the bonus DVD's from the Depeche Mode sets, which is nice, because it's coming from a higher quality source material (48kHz and...uh, 24 bits, I think). But more importantly, all those bonus tracks I now have access to on my iPod. Converts to .wav, mp3, ogg and FLAC, amongst other options.
DVD Audio Extractor also works directly with DVD's, although I haven't used it that way myself, yet.