Copy DVD to iTunes for watching on Apple TV

You can use Handbrake for this.

I highly recommend having this app in your arsenal for pesky discs that won't rip.

RipIt: http://thelittleappfactory.com/ripit/

RipIt is guaranteed to work and has a 99.9999% success rate in ripping DVDs. In fact, it has been verified to work with over 250,000 unique discs, and is continuously updated to rip the latest releases.

I would also like to mention that I own this software and I was recently unable to rip the movie "Kick-Ass". I contacted customer support with my issue, and later that day they sent me a link to download an updated beta version of the app with a fix for my disc. It doesn't get much better than that!

Handbrake was unsuccessful at ripping the first 3 DVDs I tried, but I found an older program called MacTheRipper that works great for ripping. Then I throw the ripped video files at Handbrake for encoding.

I use Aimersoft DVD Ripper (PC) and have had great experiences.

It's not free, but it's simple and very easy to use. It's even got useful presets:

It's also got GPU hardware acceleration which makes the ripping process faster and smoother. I used an old dual-core Atom-powered Shuttle PC, however, to rip my entire DVD collection and it worked great.

You can use VLC media player, VLC is FOSS as you requested.

Please refer to the following post: https://apple.stackexchange.com/a/105382/10733