The Body Shop have a "Peppermint intensive foot rescue" that is just awesome. I use it right before going to bed though so I'm not sure if it would be slippery.
In general, I use Gold Bond Ultimate Skin Therapy Cream w/ aloe all over my body (including feet). It's a cream so it's pretty thick but doesn't leave a greasy residue.
I'd also recommend putting coconut oil on your feet one night and sleeping in socks. Best moisturizer ever.
I really love Origins Reinventing the Heel. It's super thick, so a little goes a long way. I like it for my hands, too.
If your feet are rough, you'll really need to exfoliate in order to see a difference. The best routine I've found for my caveman-dry feet is to exfoliate with a Ped-Egg at night to shave the dead skin off, then apply the heel cream. Make sure your feet are totally dry before you ped-egg; don't do it after a shower or bath. Do this for a week, and you'll have brand new feet.