At the start of the battle, Aragorn led the elf warriors, and he did so using the elvish language. They were all in a group on the wall, and this was where Gimli was. It stands to reason that in preparation for the battle, anyone who was in that group would be briefed on the various commands that Aragorn would use. So I'd argue that off-camera Gimli was told what the various elvish words were and their meaning, so he would be able to follow the same orders as those around him.
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