One of the weak points of Mplayer always seemed to be the support for DVD menus… or not?
Actually it’s quite easy to watch DVDs and browse menus with Mplayer. All you really need is a version that has dvdnav support enabled.
You can start the DVD the following way:
mplayer dvdnav://0 -dvd-device </dev/dvd | myfile.iso>
Quite easy, isn’t it?