Open dvd producer is a free DVD image creator software for windows, Ubuntu and MacOS.Using this software you can create very poerful DVDs with menus and chapters.This is open source software and the source code is available on github.
It supports DVD menus. you can create static and animated menus using sound and video.It also supports menu backgrond image and video.You can also set color and opacity of buttons highlight and directions. It supports real time previews. And you can add chapter marks directly on the timeline and set video resolution.
Open DVD Producer comes with build in video audio encoder to convert and DDP® generation.
The downloaded windows file is around 85 MB and it is a portable app. And the ubuntu version is around 2MB and it will take care of all the other tools needed.