I used a free version of Aiseesoft's blu-ray ripper that I got via giveawayoftheday (that kind of software tends to crop up every few months), and it worked fine, though it struggled with copy protection on some new blu-rays. I found another ripper called somethingorother that got around all that, it had the same UI albeit in a different colour, but was from another company. I'll dig out the name for you tonight.
I dunno what it's like on a Pi but I use it for all my TV/video needs on a Mac Mini, got pretty much no complaints for serving content off my network at least.