I was seeing random noise in my depth images, which when converted to laser scans (depthimage_to_laserscan), caused problem with the local planner in move_base. Bottom line, random obstacles would appear and disappear.
Digging into camera settings, I came across these two issues in the main line realsense code:
There's a parameter /camera/driver/r200_dc_preset that can be set for varying filter levels. This can be added to the camera launch file (i.e. in realsense_camera, lr200m_nodelet_default.launch). The issue #106 link above should help decipher things. They have an example launch file, but you'll probably just want to add the parameter to a copy of the Euclid file.
Anyways - figured I'd post the info here since many of us are coming into the Euclid/Realsense without prior Realsense device experience.