Possible to rip audio from DVD

[LiaisseHoab]

Well, i bought the new Godsmack DVD. The special edition has an bonus DVD that includes a making of video and also a couple bonus tracks. I was hoping I can just copy the bonus tracks off therefore i can listen to them with no disc in or use them my iPod or what ever. Anyway, as far as I can tell of having I see to pay attention to the bonus tracks is always to play the DVD and play them from your menu options there.
So, question: is there any software I will use to get those sound files off the DVD and save being an mp3 or some additional audio format?
If it helps, when I look at the files/directory structure of this disc, there's 2 folders: "AUDIO_TS" which doesn't already have anything in it, then "VIDEO_TS" which carries a few files in it. With extensions like. bup,. ifo, and. vob. Googled and found dvd audio extractor,but I want to know if I can get free one.
Maybe a couple of the people are the audio monitors the DVD plays and there's something out there that'll convert them?