gistfile1.txt

compile with
g++ -I/opt/ros/indigo/include -I/usr/include/python2.7 python_costmap2d.cpp -fPIC --shared -L/opt/ros/indigo/lib -lcostmap_2d -lpython2.7 -lboost_python -o costmap2d_ext.so

gistfile2.py

import costmap2d_ext

layerloader = costmap2d_ext.LayerLoader("costmap_2d", "costmap_2d::Layer")
obstacle_layer = ll.createInstance('costmap_2d::VoxelLayer')
layered_costmap = costmap2d_ext.LayeredCostmap("map",True, True)
layered_costmap.addPlugin(obstacle_layer)

# this crashes on exit, likely because the plugins are not properly unloaded

python_costmap2d.cpp

#include <boost/python.hpp>                                                      
#include <boost/python/suite/indexing/vector_indexing_suite.hpp>                 
#include <costmap_2d/costmap_2d.h>                                               
#include <costmap_2d/layer.h>                                                    
#include <costmap_2d/layered_costmap.h>                                          
#include <pluginlib/class_loader.h>                                              
                                                                                 
namespace bp = boost::python;                                                    
namespace c2 = costmap_2d;                                                       
namespace pl = pluginlib;                                                        
                                                                                 
BOOST_PYTHON_MODULE(costmap2d_ext)                                               
{                                                                                
    bp::class_<std::vector<std::string> >("ListOfString")                        
        .def(bp::vector_indexing_suite<std::vector<std::string> >() )            
    ;
    
    bp::class_<boost::shared_ptr<c2::Layer> >("SharedPointerToLayer")            
    ;
    
    bp::class_<c2::LayeredCostmap> ("LayeredCostmap",                            
            bp::init<std::string, bool, bool>())                                 
        .def("addPlugin", &c2::LayeredCostmap::addPlugin)                        
    ;
    
    bp::class_<pl::ClassLoader<c2::Layer>, boost::noncopyable >("LayerLoader",   
        bp::init<std::string, std::string, bp::optional<std::string, std::vector<std::string> > >())
        .def("getDeclaredClasses", &pl::ClassLoader<c2::Layer>::getDeclaredClasses)
        .def("createInstance",  &pl::ClassLoader<c2::Layer>::createInstance)        
        //boost::shared_ptr<T> createInstance(const std::string& lookup_name);   
    ;

    bp::class_<c2::Costmap2D>("Costmap2D",                                       
            bp::init<unsigned int, unsigned int, double, double, double, bp::optional<unsigned char> >())
        ;                                                                        
}