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But I can't quite think of a way to 'Scan graph for changed edge costs'
This seems straight-forward: keep a copy of the previous OccupancyGrid, then compare cell-by-cell against the current OccupancyGrid.
There are various cpu-reduction optimizations you could implement: for example, you might compare only cells touched by the current global path, or you could customize costmap_2d to report a list of modified cells since the last query.
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