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There is indeed something odd here. Could it be that you try the Layered costmap costmap configuration with a pre-Hydro configuration?

You have

plugins:
  - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}

but obstacle_layer is nowhere configured. Also

observation_sources: laser_scan_sensor

stands alone. It should probably be inside the obstacle_layer namespace, same with obstacle_range and raytrace_range. They are all options of the ObstacleLayer, not the costmap, e.g.

obstacle_layer:
  observation_sources: laser_scan_sensor
  laser_scan_sensor: {sensor_frame: /scan, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
  obstacle_range: 4.0
  raytrace_range: 5.0

The same with with the inflation_radius option, this belongs into the namespace of the InflationLayer, e.g.

inflation_layer:
  inflation_radius: 0.55