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.
Thanks so much for that valuable feedback, Jay! Each bit of new knowledge added to the community helps other users who are searching for the answer to similar problems they may be having.