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What does your CMakeLists.txt look like for this plugin? Are you linking against the "base_local_planner" library? If not, you probably need to. You can run the undefined symbol through c++filt to see that:

c++filt _ZN18base_local_planner12CostmapModelC1ERKN10costmap_2d9Costmap2DE

outputs:

base_local_planner::CostmapModel::CostmapModel(costmap_2d::Costmap2D const&)

That class is defined in base_local_planner/src/costmap_model.cpp, and is part of the "base_local_planner" library exported by that package. Thus, you need to link against that library (since this is a plugin, you don't get an undefined symbol until runtime).