As far as the millennium goes, we tend to agree with Augustine and, derivatively, with the amillennialists. The Catholic position has thus historically been “amillennial” (as has been the majority Christian position in general, including that of the Protestant Reformers), though Catholics do not typically use this term. The Church has rejected the premillennial position, sometimes called “millenarianism” (see the Catechism of the Catholic Church 676). In the 1940s the Holy Office judged that premillennialism “cannot safely be taught,” though the Church has not dogmatically defined this issue.
With respect to the rapture, Catholics certainly believe that the event of our gathering together to be with Christ will take place, though they do not generally use the word “rapture” to refer to this event (somewhat ironically, since the term “rapture” is derived from the text of the Latin Vulgate of 1 Thess. 4:17—“we will be caught up,” [Latin: rapiemur]).