Welcome to the forums VinMac3.
Both of the decryption programs you have mentioned are extremely outdated, and will not work with many newer films with advanced protection. I suggest you get the trial for DVDFab. While the trial is functional, it will rip and compress for you, but even after the trial is finished, there is a free section within it that will continue to function as a decrypter and ripper. It is called DVDFab HD Decrypter. The only caveat is that it will lag behind the commercial version in updates by 60 days.
Another free option, this time completely free, is BD Lot DVD ISO Master. It will rip the entire movie for you, but the output will be in an ISO file. If you want to compress with DVDShrink, it can open ISO files directly by clicking Ctrl I. You can also mount ISO files in a virtual drive, like the free one from Slysoft called VirtualClone Drive. Once mounted, you can work with the ISO file in any program.
If you need better quality when compressing movies, I'd suggest DVDRebuilder. It uses an encoder, rather than the transcoder found in DVDShrink. There is a free version of DVDRebuilder available. And it does have the option to compress the entire movie, menus and all.
Now, on to burning +R DL disks. The first problem is your choice of media. The only DL disks that are widely available that we recommend are sold under the Verbatim brand. Don't use Memorex.
The second issue...a Toshiba burner? How old is this drive? Can you give us the model number? It should show up in ImgBurn.
Virtually any modern burner will set booktype to DVD Rom for you automatically when using +R DL media. So you shouldn't have to set anything.