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Try adding inertial before the <visual>,, this way

  <inertial>
    <mass value="1.0" />
    <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
  </inertial>

More accurate inertial can be from the CAD software itself. Also, often the mesh (*.dae or *.stl ) from CAD software will be in millimeters. So you might also need to scale the dimensions by 0.001 this way

<mesh filename="package://pkg_name/path/part.dae" scale="0.001 0.001 0.001"/>