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ModeCRadarPlugin is a model plugin while you are trying to load it as a sensor plugin. This should work.

<gazebo reference="rad_link">
    <sensor name="radar" type="logical_camera">
        <visualize>true</visualize>
        <always_on>true</always_on>
        <update_rate>10</update_rate>
    </sensor>
</gazebo>

<gazebo>

</gazebo>

ModeCRadarPlugin is a model plugin while you are trying to load it as a sensor plugin. This should work.

<gazebo reference="rad_link">
    <sensor name="radar" type="logical_camera">
        <visualize>true</visualize>
        <always_on>true</always_on>
        <update_rate>10</update_rate>
    </sensor>
</gazebo>

<gazebo>
       <plugin name="mode_c_radar" filename="libModeCRadarPlugin.so">
            <robotNamespace></robotNamespace>
            <radar_sensor_frameid>rad_link</radar_sensor_frameid>
            <radar_topic_ros>radar_topic</radar_topic_ros>
            <position_noise>
                <noise>
                    <type>gaussian</type>
                    <mean>0.0</mean>
                    <stddev>0.001</stddev>
                </noise>
            </position_noise>
            <known_model_types>
                <type>husky</type>
                <type>delta_wing</type>
            </known_model_types>
        </plugin>
</gazebo>