example of what an instance of the Recipe class would look like
An instance of a class is created with a new statement that calls the class's constructor. The following statement from your code creates an instance of the Recipe class and saves the reference in the recipe variable:
Recipe recipe = new Recipe(recipeName,servings, (ArrayList<Ingredient>) getRecipeIngredients(), totalRecipeCalories);
same error message on this part of the code in the Recipe class
You can not make a method static if it uses other parts of the class that are not static.
The ingredients for a recipe belong to one recipe so their values can not be static (meaning shared between all instances of a class).
Look at where the original problem is. What recipe is it working with? The code needs a reference to that recipe so it can call one of its methods.