MPlayer can handle both CDs and DVDs. For me CD playback is choppy. You can run:
$ mplayer cdda://
to play a CD
DVD playback is pretty good, but the interface is clunky. There is no DVD menu support, so you have to know which titles you want to play. This isn't so bad for a full length movie, but for DVDs with multiple episodes it is a little annoying trying to find the one you want.
Xine and ogle offer DVD menu support and there are KDE frontends available for both.
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