As so described, as long as there is some regulation of the economy (antitrust laws don’t go over big with libertarians), there is indeed room in Catholicism for what you seem to think is libertarianism.
Only, of course, libertarianism is actually nothing like what you described. Libertarians are basically anarchists, who suffer from the fallacy of angelism–people have no animal nature. They believe that if you remove all restrictions from everything, especially the economy, people will magically all be happy and get along. Some of the smarter ones actually do acknowledge the legitimacy of private charities and self-regulation (i.e. not producing porn because one thinks it would be harmful), but all refuse to see that no rules get followed, by the vast majority of humans, unless there’s some penalty for breaking them. Sometimes they can be made to see the legitimacy of laws against murder (or honor killings), and theft (they’ve fetishized private property, although they don’t understand the philosophical basis of the right to it), but they otherwise seem to think everyone can be rich and self-reliant.
However, mandated minimum wages are not a part of Catholic social teaching, since they presuppose an inability on the part of workers to negotiate for good salaries on their own (if that situation does not exist, minimum wages do more harm than good). Nor, really, is free health care, since doctors do in fact have to eat. Whether they get paid by the government or a private charity or a group of private citizens (an insurance co-op) is actually a matter of prudential judgment.