Eitan,

I put together a gazebo simulation. I was able to get it working with
boxturtle only. There is an issue with the diffdrive controller in
cturtle. You can download all necessary files from

http://doc.openrobotino.org/ros_gazebo_diff_drive.zip

In the environment shown the robot passes detected obstacles extremely
narrow. The inflation radius is set to 2.0m, though.

Regards
Christian