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Are you sure your layer type is correct? I think the layer type should be "costmap_2d::ros_ips_obstacle_layer". So the final yaml should be something like this.

plugins: 
  - {name: ros_ips_obstacle_layer, type: "costmap_2d::ros_ips_obstacle_layer"}

publish_frequency: 1.0
robot_radius: 0.25

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