Until now.
First off, you have to understand that the files an iPod recognizes are called MPEG-4 files. The only way to get these are by using iTunes, but iTunes will not recognize the format that a DVD is in..
SO, you need a converter! These programs can be used to convert many type of video files to many other types. For Example, the program I use is called the #1 DVD Ripper.

Warning: this product requires one to purchase the full program or it will only convert the first 10 minutes of your DVD.
So, once you've got your full version of the program, open it up.

This will be the screen that you see.
Next, open the DVD file you want by clicking on the load DVD button.
Once you have the DVD you want, you'll need to select what type of file you want it converted to.
Look for the iPod version and settings that want, and select that.
If you want to change any settings, click on settings. Once your ready to go, click start, and you can watch your movie being converted, (you actually see where in the movie the program is, because of the preview setting)
And your done! Enjoy your movies on you iPod!