Robot oscillating before stopping if an obstacle found in ros navigation setup

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Would certainly help to have more information about your robot, and your move_base configuration -- but generally I would say: if the global planner is coming up with a path that the local_planner cannot actually follow (which is what it sounds like), you need to revisit your parameters.

I'd suggest looking closely at the robot inflation in both the global and local costmap -- they should probably be the same, or at least the global should probably be bigger than the local_costmap (since the global planner doesn't really take into account your base drive kinematics).

This tutorial has more about tuning the navigation stack.