MoveIt: how to use move_group node for pat replnanning when the robot is in collision with an obstacle?

edit

Hi I would like to add a collision object to the scene during the robot movement( during the execution of the trajectory) . I know that can use the move_group node and also read the concept here move_group concept. But still, need some help in the construction of the node. I wrote the cpp code but think still something is missing such as the Replanning checkbox and isPathValid functions to check for collisions in my current scene, but not sure about the implementation and where should be that in my code. Here the code so far

using namespace sensor_msgs;
using namespace std;

class ObjectsCollision
{
public:
  const std::string PLANNING_GROUP = "crane_control";   
  moveit::planning_interface::PlanningSceneInterface planning_scene_interface;

  ObjectsCollision()
  {
    ros::NodeHandle n;
    // Initialize subscriber to the raw point cloud
    ros::Subscriber sub = n.subscribe("/darknet_ros_3d/bounding_boxes", 50, &ObjectsCollision::cloudCB, this);
    // Spin
    ros::spin();
  }


void cloudCB(const darknet_ros_3d_msgs::BoundingBoxes3d& boxes)
{ 

 moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
 moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);
 moveit::planning_interface::MoveGroupInterface::Plan my_plan;
 const std::string MoveGroupInterface = "robot_description";  

 int counter_id = 0;
 std::vector<std::string> object_ids;
 moveit_msgs::CollisionObject collision_object;
 //collision_object.header.frame_id = "zed_left_camera_optical_frame";
 collision_object.header.frame_id = move_group.getPlanningFrame();

 collision_object.id = "BOX_";
 std::vector<moveit_msgs::CollisionObject> collision_objects;



  geometry_msgs::Pose target_pose1;
  target_pose1.orientation.w = 1.0;
  target_pose1.position.x = 0.28;
  target_pose1.position.z = 0.5;
  move_group.setPoseTarget(target_pose1);
  bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
  move_group.move();



          for(auto bb : boxes.bounding_boxes)
                    {

                                  shape_msgs::SolidPrimitive primitive;
                                  primitive.type = primitive.BOX;
                                  primitive.dimensions.resize(3);
                                  string str= to_string(counter_id++);                                

                                  //Pose
                                  geometry_msgs::Pose box_pose;
                                  box_pose.position.x = abs ((bb.xmax + bb.xmin)/2);
                                  box_pose.position.y = abs ((bb.ymax + bb.ymin)/2);
                                  box_pose.position.z = abs ((bb.zmax + bb.zmin)/2);
                                  box_pose.orientation.x = 0; 
                                  box_pose.orientation.y = 0;   
                                  box_pose.orientation.z = 0;
                                  box_pose.orientation.w = 1.0;

                                  //Dimension
                                  primitive.dimensions[0] = abs (bb.xmax - bb.xmin);
                                  primitive.dimensions[1] = abs (bb.ymax - bb.ymin);
                                  primitive.dimensions[2] = abs (bb.zmax - bb.zmin); 

                                  //Collision object       
                                  collision_object.primitives.push_back(primitive);
                                  collision_object.primitive_poses.push_back(box_pose);                               
                                  collision_objects.push_back(collision_object); 

                            }

                                 collision_object.operation = collision_object.REMOVE; 
                                 object_ids.push_back(collision_object.id);
                                 planning_scene_interface.removeCollisionObjects(object_ids); 
                                 //sleep(0.6); 
                                 collision_object.operation = collision_object.ADD;

                                 planning_scene_interface.applyCollisionObjects(collision_objects);
                                 //sleep(0.6);

                                move_group.setStartState(*move_group.getCurrentState());
                                geometry_msgs::Pose another_pose;
                                another_pose.orientation.w = 1.0;
                                another_pose.position.x = 0.4;
                                another_pose.position.y = -0.4;
                                another_pose.position.z = 0.9;
                                move_group.setPoseTarget(another_pose);

                                success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);

 }

};


int main(int argc, char** argv)
{
  // Initialize ROS
  ros::init(argc, argv, "collision_object");
  // Start the segmentor
  ObjectsCollision();
}

Please I need some further help

Thanks