Create ISO file with mkisofs

The AUDIO_TS/ and VIDEO_TS/ directories are required by the dvd video standard, and contain all of the menus and video that will be used when you put this dvd into your home dvd player.

# mkisofs -dvd-video -udf -o dvd.iso dvd_fs

This will create the iso image dvd.iso that you can burn to a real dvd with dvdrecord