Rip the original DVD with dvdbackup or dvdcpy. (If you do not need to do any transcoding to do you could use "dd" to copy the raw iso.) Have you then tried installing dvdstyler to create and burn your new dvd? It pulls in all necessary dependencies. DvdStyler contains these commands:

Create iso
mkisofs -V "$VOL_ID" -o "$FILE" -dvd-video "$DIR"

Burn a dvd formatted folder
growisofs -V "$VOL_ID" -dvd-compat -Z $DEV -dvd-video "$DIR" $SPEEDSTR

Burn an iso
growisofs -dvd-compat -Z $DEV="$FILE" -use-the-force-luke=dao:$SIZE $SPEEDSTR

Good Luck
Mo

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