How could a kind GxD allow his people to use slavery on their weaker contemporaries and neighbours and yet be so strict with other requirements.
I'll start off by saying that yes, it's troubling. So I'll do my best to quote a few answers I've heard, without saying "aha that answers it."
At the heart of the slavery issue are the questions:
As Jews, our bodies are considered Hashem's property. We were once upon a time free-men who owned ourselves, but we became slaves to the Egyptians, and while Hashem redeemed us from them, we are still slaves to Hashem. As a result, like the land of Israel, which is also ultimately God's property, we are not allowed to permanently sell ourselves, only as 'indentured-servants' to each-other for our debts, and for no-more than 6 years. Since our bodies don't belong to ourselves, we also can't get tattoos or make a cut in our flesh, eat whatever we want and many more restrictions. It's a direct result of Hashem being our Master that prevents Jews from selling them-selves. If Jews weren't already slaves to Hashem, Jews would be allowed to sell themselves as slaves.
Gentiles on the other hand are their own proprietors. They were never redeemed by Hashem, so they still own themselves, and can do whatever they want with their bodies, therefore they are allowed to sell themselves as property, if their laws allow for it. Hashem won't change gentile-laws, but he did the next best thing by making a blanket emancipation for any gentile-slave who wants to escape their gentile-master. He can escape to Israel where, under Jewish law, he would be protected as a free-man.
A Jew is not permitted to sell a gentile-slave to a gentile. If he does, that slave must be re-purchased and granted freedom.
A Jew is only allowed to purchase a gentile-slave if he agrees to be circumcised. Circumcision is an acceptance that Hashem is the only God and it's a sign that Hashem is our Master. Basically, this is a light-conversion, where the slave accepts that Hashem is his master as well. This gives the gentile-slave a huge deterrent, and a real choice of whether or not to become a slave to a Jew, especially since he can always refuse circumcision and escape to Israel where he would be protected as a free man.
If a gentile does want to undergo circumcision and become a slave to a Jew, in return for his servitude, the slave must be provided with sustenance. There is no official law dictating how a Jewish-slave-owner must treat his gentile-slave (similarly there is no law against yelling at or hitting your wife and children.), because as an adult the law can't tell you how to use your property, however, it is taught that gentile-slaves should be treated as humanely as possible, even partaking in every meal the master eats, before the master himself eats. He should never be embarrassed or distressed, over-worked, or shouted at, and one should speak to them gently and listen to their claims. Their main purpose is to perform a service, not 'be your slave'.