How to convert DVD or .VOB files to mpg file with --sout ?

[mivk]

I'm having trouble trying to convert DVD files to a single file with the --sout option. The main problem is that after the main title, the ouptut loops endlessly on the menu, and I just have to kill the process before my disks get filled up. Another test resulted in a defective file. My vlc version is 2.2.2 (-5ubuntu0.16.04.2).

The wiki suggests

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vlc dvdsimple:///d:#1 --sout "#standard{access=file,mux=ts,dst=dvdout.mpg}" vlc://quit

That seems to assumes you are on Windows and have a DVD in your D: drive.
Since I have the DVD files in a local directory (on Linux), I ended up with this:

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vlc -v "dvd:///path/to/dvdfolder#1" --sout "#standard{access=file,mux=ps,dst=title1-ps.mpg}" vlc://quit

That displayed the correct title length in VLC during the streaming, but then started to display the length of the menu in VLC, and an endless stream of "[00007fd6400009b8] core input error: ES_OUT_RESET_PCR called" in the terminal, until killed with Ctrl-C.

When that file is played in VLC, it displays a total duration of 2 mn. 58 s. instead of 1:22:43, and has the menu looping at the end until the end of file.

This is the full output:

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$ vlc -v "dvd:///path/to/dvdfolder#1" --sout "#standard{access=file,mux=ps,dst=title1-ps.mpg}" vlc://quit VLC media player 2.2.2 Weatherwax (revision 2.2.2-0-g6259d80) [00000000021fdeb8] core libvlc: Running vlc with the default interface. Use 'cvlc' to use vlc without interface. [00007fd63c003298] mux_ps mux: Open libdvdnav: Using dvdnav version 5.0.3 libdvdread: Couldn't find device name. libdvdnav: Can't read name block. Probably not a DVD-ROM device. libdvdnav: vm: dvd_read_name failed libdvdnav: DVD disk reports itself with Region mask 0x00fd0000. Regions: 2 [00007fd6400009b8] core input error: ES_OUT_RESET_PCR called [00007fd6400009b8] core input error: ES_OUT_RESET_PCR called [00007fd6400009b8] core input error: ES_OUT_RESET_PCR called [00007fd6400009b8] core input error: ES_OUT_RESET_PCR called [00007fd63c003298] core mux warning: no more input streams for this mux [00007fd6400009b8] core input warning: clock gap, unexpected stream discontinuity [00007fd6400009b8] core input warning: feeding synchro with a new reference point trying to recover from clock gap [00007fd6400009b8] core input error: ES_OUT_RESET_PCR called [00007fd63c003298] core mux warning: no more input streams for this mux [00007fd6400009b8] core input error: ES_OUT_RESET_PCR called [00007fd6400009b8] core input error: ES_OUT_RESET_PCR called etc. until Ctrl-C ^C[00007fd63c003298] core mux warning: no more input streams for this mux [00007fd63c003298] mux_ps mux: Close QObject::~QObject: Timers cannot be stopped from another thread

Then I tried dvdsimple: and mux=ts instead of ps.
That shows different errors in the console, does stop by itself at some point, but gives a faulty file.
The file can be played until what I guess is 1 hour into the movie, but movements are choppy and the played/total durations showed in VLC are 0:00. If you try to jump to some part near the end (after 1 hour?), VLC crashes.

This is the full output:

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$ vlc -v "dvdsimple:///path/to/dvdfolder#1" --sout "#standard{access=file,mux=ts,dst=title1-ts.ts}" vlc://quit VLC media player 2.2.2 Weatherwax (revision 2.2.2-0-g6259d80) [00000000016afeb8] core libvlc: Running vlc with the default interface. Use 'cvlc' to use vlc without interface. libdvdread: Couldn't find device name. [00007fbfac0009b8] core input error: ES_OUT_RESET_PCR called [00007fbfac0009b8] core input error: Invalid PCR value in ES_OUT_SET_(GROUP_)PCR ! [00007fbfac0009b8] core input error: Invalid PCR value in ES_OUT_SET_(GROUP_)PCR ! [00007fbfac0009b8] core input warning: clock gap, unexpected stream discontinuity [00007fbfac0009b8] core input warning: feeding synchro with a new reference point trying to recover from clock gap [00007fbfa4003298] mux_ts mux warning: packet with too strange dts (dts=3674344911,old=3562001780,pcr=3562000000) [00007fbfa4003298] mux_ts mux warning: packet with too strange dts (dts=3674376911,old=0,pcr=3562200000) [00007fbfa4003298] mux_ts mux warning: packet with too strange dts (dts=3674608911,old=3562280000,pcr=3562280000) [00007fbfa4003298] mux_ts mux warning: packet with too strange dts (dts=3674408911,old=0,pcr=112288911) [00007fbfa4003298] mux_ts mux warning: packet with too strange dts (dts=3674440911,old=0,pcr=112328911) ... same line 8 more times ... [00007fbfac0009b8] core input error: ES_OUT_RESET_PCR called [00007fbfa4003298] core mux warning: no more input streams for this mux [00007fbfac0009b8] core input error: Invalid PCR value in ES_OUT_SET_(GROUP_)PCR ! [00007fbfac0009b8] core input warning: clock gap, unexpected stream discontinuity [00007fbfac0009b8] core input warning: feeding synchro with a new reference point trying to recover from clock gap [00007fbfac0009b8] core input error: ES_OUT_RESET_PCR called [00007fbfa4003298] core mux warning: no more input streams for this mux [00007fbfac0009b8] core input error: Invalid PCR value in ES_OUT_SET_(GROUP_)PCR ! [00007fbfac0009b8] core input warning: clock gap, unexpected stream discontinuity [00007fbfac0009b8] core input warning: feeding synchro with a new reference point trying to recover from clock gap [00007fbfa4007e18] dvdread demux error: Failed next title, trying another: 3 [00007fbfa4003298] core mux warning: no more input streams for this mux [00007fbfa4003298] idummy demux: command `quit' QObject::~QObject: Timers cannot be stopped from another thread

My real point is to get a file which was "DeCSS'ed" so that I can then feed it to ffmpeg for various transcodings.

So my question is: what would be the correct way to convert a DVD title or a bunch of .VOB files using vlc (or cvlc) ?