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You may want to check out the new collision monitor that is in review currently https://github.com/ros-planning/navigation2/pull/2982#issuecomment-1184154973 (and docs https://github.com/ros-planning/navigation.ros.org/pull/333/files/55a13ede7368b868da9a56b2ba481af453d45115..be0ac6597ac5d911c356e8a8b875bb98672ddedd)
That may be what you're essentially looking for. Inserting into your costmap will help slow the robot, but if you're looking for emergency stopping, that's different. Handling that at the lower level is pretty typical.
We do not yet have support for Range though, only Scans and PointCloud2's. But, that would be pretty trivial to add if you were willing to contribute the feature.
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