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I've had this problem for a long time, even on flat surfaces. Many people have reported the same. There are two approaches you can follow:

Use dynamic_reconfigure and change some of the parameters (there's a z_threshold filtering one you can play with)
Copy some "good" set of parameters.

You can find one at: https://github.com/uu-isrc-robotics/uu-isrc-robotics-pr2-pkgs/tree/master/good_pr2_local_nav that I've copied from somewhere :-)

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