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I've found the following link to be very helpful: http://gazebosim.org/tutorials?tut=inertia

And I actually just make my inertial values the same as a box the same size as my collision shapes so the inertial values are just calculated using the formula lists for cuboids on this wikipedia page using the values from my collision boxes. Like that gazebo tutorial mentions, if you temporarily set mass = 1, you can view the inertial cube in gazebo and it should be the same as your collision cube.

This is close enough for most applications.