Ok first this is what Acrobatics says:
Spoiler:
First, you can use Acrobatics to move on narrow surfaces and uneven ground without falling. A successful check allows you to move at half speed across such surfaces—only one check is needed per round. Use the following table to determine the base DC, which is then modified by the Acrobatics skill modifiers noted below. While you are using Acrobatics in this way, you are considered flat-footed and lose your Dexterity bonus to your AC (if any). If you take damage while using Acrobatics, you must immediately make another Acrobatics check at the same DC to avoid falling or being knocked prone.
I'm sure I read a feat or something, that allowed you to do this and not be flatfooted. Also if possible avoids the additional check when taking damage, but that flatfooted part is the most important.
If possible something a monk can use.
The Ledge walker rogue talent is exactly what you are searching.
Ledge Walker (Ex): This ability allows a rogue to move along narrow surfaces at full speed using the Acrobatics skill without penalty. In addition, a rogue with this talent is not flat-footed when using Acrobatics to move along narrow surfaces.