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From your video, it seems you are having problem with localization, as your laser scans (in red) are moving a lot. Although you say you have good localization, as far as I understood, when you test it you are not using the navigation stack. That puts an extra load on your hardware, which may result in bad localization, when everything is running together (I had similar problems running simulations, that would go away when using more powerful machines, without changing any parameters).

If you can use a more powerful hardware, I would give it a try. If not, try to relax some of the navigation stack constraints, specially the forward simulation parameters. Try reducing the simulation time, the number of samples and the loop frequency.

I hope this helps...