How to Change DWA local planner Algorithm ?

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I suggest to create your own plugin that implements the same functionalities of DWA local planner and stops in case of dynamic object detection. Otherwise, if you don't want to create a plugin by yourself, create a multiplexer for cmd_vel that returns 0 speed when the robot meets a dynamic obstacle.

thanks for the answer. How can I create a multiplexer for cmd_vel that returns 0 speed when the robot meets a dynamic obstacle ?

You can use this, for example. Otherwise, you can create it by yourself, if you prefer...

Thanks. Is it possible without mux or create local planner from stretch ? (just with manipulation of DWA local planner). if yes, which part of the dwa_local_planner(or any other part of navigation_stack) should I manipulate ? (DWA should create 0 velocity, if robot interfaces with a Dynamic object)

Usually, it is not recomended to modify original ROS code. You can find the original code for DWA local planner in its code API and start creating your own plugin from it by extending the base_local_planner class.