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I figured it out on my own.

Problem 1: The type attribute in the costmap_plugins.xml should refer to the namespaced version of the implementation class. Ergo costmap_plugins::StaticCostmap should be static_costmap_plugin::StaticCostmapPlugin.

Problem 2: The same applies to the first parameter of PLUGINLIB_DECLARE_CLASS

PLUGINLIB_DECLARE_CLASS(static_costmap_plugin, static_costmap, static_costmap_plugin::StaticCostmapPlugin, costmap_2d::CostmapPlugin)

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