Can I insert a CATIA model into Gazebo? How do I impart motion to it

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AFAIK, some automation for this task exist only for SolidWorks. In other cases you need to export your whole model or parts (only those that will move) in STL or DAE and write by hand URDF or SDF xml files to describe your robot model (links, joints) .

While exporting parts you also need to consider dimensions units (Gazebo uses meters and CATIA probably by default will export in mm), and maybe you'll need to simplify exported meshes to limit computation resources needed (i am using Meshlab for that).