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It seems that the units for Inertia in Gazebo are Kg (meters)^2. -- sorry for the poor layout.
This is the standard SI units for Inertia. If solidworks is giving your units in g mm^2 then to convert to kg m^2 you would need to:
divide by 1 000 000 to convert from mm^2 to m^2.
divide by 1000 to convert from g to kg.
therefore you Ixx value of yours should be correct notwithstanding any differences in axes as I notice that you have used Izz as your Ixx value. To get around this potentially confusing issue, I typically have drawn the object as per a "rest" orientation, and used this as the basis for all values inputed into the urdf file.
You should only need to use the Inertia values about the centre of gravity, if your centre of gravity is not colocated with your origin then use the <origin> parameter for inertia for Gazebo to convert.
Hope this helps
Peter Milani
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