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If you are looking to maintain ROS integration of your robots, it may be best to use the SW2URDF Exporter. This code loads into any standard Solidworks as an "Add-In" and has good tutorials on the wiki.ros page on using the tool to build your URDF.

Next load this URDF into Gazebo. Reference this wiki.ros tutorial (Using URDF in Gazebo) for details as to what Gazebo requires in the URDF.
Note: Tools like MoveIt Setup Assistant have features that help check/generate the gazebo specific xml tags that your URDF will need for Gazebo. So, if you're already planning to use MoveIt.. check this out.

TL;DR
Checkout WikiRos: SW2URDF Exporter
Find gazebo specific tags in WikiRos: Using URDF in Gazebo