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Are you using this with the navigation stack already? If so, you're in luck, most of the hard work is done for you for at least an MVP of your project!
So move base will ask you to replan at whatever rate you specify in your move base params file, so over time you should be planning with the new collision information. The local planner if it fails to compute a path (because something is in the way) will also trigger the global planning plugin to recompute.
It's just up to you in your application to use that Costmap2DROS pointer to get the costs of your path and make sure they're valid and if not, go around them or stop.
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