In April 2006 I've shiped my bike from Dakar, Senegal, to Hamburg in Germany with Grimaldi lines. The bike was driven into the Ro Ro ship, and so was I. It took us 6 days, and cost around $1000. Very nice adventure, and recomended if you have the time. At the time, Grimaldy used to call in Dakar twice a month if i'm not mistaken.
Hope this helps,