There is a way to reconfigure libdvdcss, which I believe normally performs extra steps to download some additional files, which might be missing:
sudo apt install libdvdnav4 libdvdread4 gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly libdvd-pkg
sudo dpkg-reconfigure libdvd-pkg
sudo apt install ubuntu-restricted-extras
Hoping still applies to 19.10. Tools like Brasero should read the disc when properly installed.
If that doesn't work, try MakeMKV, which majority of the time I've had success in ripping DVDs and Blu-rays that advertise as encrypted. You'll need to either compile it for Linux:
https://www.makemkv.com/forum/viewtopic.php?f=3&t=224
Or add a PPA like this one:
http://ubuntuhandbook.org/index.php/2016/03/install-makemkv-play-dvd-blurays/
Instead of creating an ISO, this will create a [sometimes large] MKV media file containing the titles, audio, subtitles as chosen from that disc. It would be worth re-encoding the file in Handbrake to produce a smaller file.