diff --git a/ur_description/config/ur10/joints_limits_parameters.yaml b/ur_description/config/ur10/joints_limits_parameters.yaml
index bdaad3343..9330c7c98 100644
--- a/ur_description/config/ur10/joints_limits_parameters.yaml
+++ b/ur_description/config/ur10/joints_limits_parameters.yaml
@@ -9,14 +9,14 @@
 #    retrieved: 2020-06-16, last modified: 2020-06-09
 limits:
   shoulder_pan:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 2.0943951
+    lower: -360.0
+    upper: 360.0
+    velocity: 120.0
     effort: 330.0
   shoulder_lift:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 2.0943951
+    lower: -360.0
+    upper: 360.0
+    velocity: 120.0
     effort: 330.0
   elbow_joint:
     # we artificially limit this joint to half it's actual joint limit to avoid
@@ -29,22 +29,22 @@ limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    lower: -3.14159265359
-    upper: 3.14159265359
-    velocity: 3.14159265359
+    lower: -180.0
+    upper: 180.0
+    velocity: 180.0
     effort: 150.0
   wrist_1:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 56.0
   wrist_2:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 56.0
   wrist_3:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 56.0
diff --git a/ur_description/config/ur10e/joints_limits_parameters.yaml b/ur_description/config/ur10e/joints_limits_parameters.yaml
index 57a4dc43a..854a64410 100644
--- a/ur_description/config/ur10e/joints_limits_parameters.yaml
+++ b/ur_description/config/ur10e/joints_limits_parameters.yaml
@@ -9,14 +9,14 @@
 #    retrieved: 2020-06-16, last modified: 2020-06-09
 limits:
   shoulder_pan:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 2.0943951
+    lower: -360.0
+    upper: 360.0
+    velocity: 120.0
     effort: 330.0
   shoulder_lift:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 2.0943951
+    lower: -360.0
+    upper: 360.0
+    velocity: 120.0
     effort: 330.0
   elbow_joint:
     # we artificially limit this joint to half it's actual joint limit to avoid
@@ -29,22 +29,22 @@ limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    lower: -3.14159265359
-    upper: 3.14159265359
-    velocity: 3.14159265359
+    lower: -180.0
+    upper: 180.0
+    velocity: 180.0
     effort: 150.0
   wrist_1:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 56.0
   wrist_2:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 56.0
   wrist_3:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 56.0
diff --git a/ur_description/config/ur16e/joints_limits_parameters.yaml b/ur_description/config/ur16e/joints_limits_parameters.yaml
index 2a78995b6..cb0b4f8b4 100644
--- a/ur_description/config/ur16e/joints_limits_parameters.yaml
+++ b/ur_description/config/ur16e/joints_limits_parameters.yaml
@@ -9,14 +9,14 @@
 #    retrieved: 2020-06-16, last modified: 2020-06-09
 limits:
   shoulder_pan:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 2.0943951
+    lower: -360.0
+    upper: 360.0
+    velocity: 120.0
     effort: 330.0
   shoulder_lift:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 2.0943951
+    lower: -360.0
+    upper: 360.0
+    velocity: 120.0
     effort: 330.0
   elbow_joint:
     # we artificially limit this joint to half it's actual joint limit to avoid
@@ -29,22 +29,22 @@ limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    lower: -3.14159265359
-    upper: 3.14159265359
-    velocity: 3.14159265359
+    lower: -180.0
+    upper: 180.0
+    velocity: 180.0
     effort: 150.0
   wrist_1:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 56.0
   wrist_2:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 56.0
   wrist_3:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 56.0
diff --git a/ur_description/config/ur3/joints_limits_parameters.yaml b/ur_description/config/ur3/joints_limits_parameters.yaml
index 08c7dc4e5..7b969ca1c 100644
--- a/ur_description/config/ur3/joints_limits_parameters.yaml
+++ b/ur_description/config/ur3/joints_limits_parameters.yaml
@@ -9,14 +9,14 @@
 #    retrieved: 2020-06-16, last modified: 2020-06-09
 limits:
   shoulder_pan:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 56.0
   shoulder_lift:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 56.0
   elbow_joint:
     # we artificially limit this joint to half it's actual joint limit to avoid
@@ -29,22 +29,22 @@ limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    lower: -3.14159265359
-    upper: 3.14159265359
-    velocity: 3.14159265359
+    lower: -180.0
+    upper: 180.0
+    velocity: 180.0
     effort: 28.0
   wrist_1:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 6.28318530718
+    lower: -360.0
+    upper: 360.0
+    velocity: 360.0
     effort: 12.0
   wrist_2:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 6.28318530718
+    lower: -360.0
+    upper: 360.0
+    velocity: 360.0
     effort: 12.0
   wrist_3:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 6.28318530718
+    lower: -360.0
+    upper: 360.0
+    velocity: 360.0
     effort: 12.0
diff --git a/ur_description/config/ur3e/joints_limits_parameters.yaml b/ur_description/config/ur3e/joints_limits_parameters.yaml
index 2b4564b59..c6bdac2c6 100644
--- a/ur_description/config/ur3e/joints_limits_parameters.yaml
+++ b/ur_description/config/ur3e/joints_limits_parameters.yaml
@@ -9,14 +9,14 @@
 #    retrieved: 2020-06-16, last modified: 2020-06-09
 limits:
   shoulder_pan:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 56.0
   shoulder_lift:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 56.0
   elbow_joint:
     # we artificially limit this joint to half it's actual joint limit to avoid
@@ -29,22 +29,22 @@ limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    lower: -3.14159265359
-    upper: 3.14159265359
-    velocity: 3.14159265359
+    lower: -180.0
+    upper: 180.0
+    velocity: 180.0
     effort: 28.0
   wrist_1:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 6.28318530718
+    lower: -360.0
+    upper: 360.0
+    velocity: 360.0
     effort: 12.0
   wrist_2:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 6.28318530718
+    lower: -360.0
+    upper: 360.0
+    velocity: 360.0
     effort: 12.0
   wrist_3:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 6.28318530718
+    lower: -360.0
+    upper: 360.0
+    velocity: 360.0
     effort: 12.0
diff --git a/ur_description/config/ur5/joints_limits_parameters.yaml b/ur_description/config/ur5/joints_limits_parameters.yaml
index e420f5f11..b4105c7a3 100644
--- a/ur_description/config/ur5/joints_limits_parameters.yaml
+++ b/ur_description/config/ur5/joints_limits_parameters.yaml
@@ -9,14 +9,14 @@
 #    retrieved: 2020-06-16, last modified: 2020-06-09
 limits:
   shoulder_pan:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 150.0
   shoulder_lift:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 150.0
   elbow_joint:
     # we artificially limit this joint to half it's actual joint limit to avoid
@@ -29,22 +29,22 @@ limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    lower: -3.14159265359
-    upper: 3.14159265359
-    velocity: 3.14159265359
+    lower: -180.0
+    upper: 180.0
+    velocity: 180.0
     effort: 150.0
   wrist_1:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 28.0
   wrist_2:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 28.0
   wrist_3:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 28.0
diff --git a/ur_description/config/ur5e/joints_limits_parameters.yaml b/ur_description/config/ur5e/joints_limits_parameters.yaml
index 0f0e3f73d..335841e56 100644
--- a/ur_description/config/ur5e/joints_limits_parameters.yaml
+++ b/ur_description/config/ur5e/joints_limits_parameters.yaml
@@ -9,14 +9,14 @@
 #    retrieved: 2020-06-16, last modified: 2020-06-09
 limits:
   shoulder_pan:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 150.0
   shoulder_lift:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 150.0
   elbow_joint:
     # we artificially limit this joint to half it's actual joint limit to avoid
@@ -29,22 +29,22 @@ limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    lower: -3.14159265359
-    upper: 3.14159265359
-    velocity: 3.14159265359
+    lower: -180.0
+    upper: 180.0
+    velocity: 180.0
     effort: 150.0
   wrist_1:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 28.0
   wrist_2:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 28.0
   wrist_3:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
+    lower: -360.0
+    upper: 360.0
+    velocity: 180.0
     effort: 28.0
diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro
index ca73488e9..fee5681d9 100644
--- a/ur_description/urdf/ur_macro.xacro
+++ b/ur_description/urdf/ur_macro.xacro
@@ -235,8 +235,8 @@
       <child link="${prefix}shoulder_link" />
       <origin xyz="${shoulder_x} ${shoulder_y} ${shoulder_z}" rpy="${shoulder_roll} ${shoulder_pitch} ${shoulder_yaw}" />
       <axis xyz="0 0 1" />
-      <limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}"
-        effort="${shoulder_pan_effort_limit}" velocity="${shoulder_pan_velocity_limit}"/>
+      <limit lower="${radians(shoulder_pan_lower_limit)}" upper="${radians(shoulder_pan_upper_limit)}"
+        effort="${shoulder_pan_effort_limit}" velocity="${radians(shoulder_pan_velocity_limit)}"/>
       <dynamics damping="0" friction="0"/>
     </joint>
     <joint name="${prefix}shoulder_lift_joint" type="revolute">
@@ -244,10 +244,10 @@
       <child link="${prefix}upper_arm_link" />
       <origin xyz="${upper_arm_x} ${upper_arm_y} ${upper_arm_z}" rpy="${upper_arm_roll} ${upper_arm_pitch} ${upper_arm_yaw}" />
       <axis xyz="0 0 1" />
-      <limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}"
-        effort="${shoulder_lift_effort_limit}" velocity="${shoulder_lift_velocity_limit}"/>
+      <limit lower="${radians(shoulder_lift_lower_limit)}" upper="${radians(shoulder_lift_upper_limit)}"
+        effort="${shoulder_lift_effort_limit}" velocity="${radians(shoulder_lift_velocity_limit)}"/>
       <xacro:if value="${safety_limits}">
-         <safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+         <safety_controller soft_lower_limit="${radians(shoulder_lift_lower_limit) + safety_pos_margin}" soft_upper_limit="${radians(shoulder_lift_upper_limit) - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
       <dynamics damping="0" friction="0"/>
     </joint>
@@ -256,10 +256,10 @@
       <child link="${prefix}forearm_link" />
       <origin xyz="${forearm_x} ${forearm_y} ${forearm_z}" rpy="${forearm_roll} ${forearm_pitch} ${forearm_yaw}" />
       <axis xyz="0 0 1" />
-      <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}"
-        effort="${elbow_joint_effort_limit}" velocity="${elbow_joint_velocity_limit}"/>
+      <limit lower="${radians(elbow_joint_lower_limit)}" upper="${radians(elbow_joint_upper_limit)}"
+        effort="${elbow_joint_effort_limit}" velocity="${radians(elbow_joint_velocity_limit)}"/>
       <xacro:if value="${safety_limits}">
-         <safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+         <safety_controller soft_lower_limit="${radians(elbow_joint_lower_limit) + safety_pos_margin}" soft_upper_limit="${radians(elbow_joint_upper_limit) - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
       <dynamics damping="0" friction="0"/>
     </joint>
@@ -268,10 +268,10 @@
       <child link="${prefix}wrist_1_link" />
       <origin xyz="${wrist_1_x} ${wrist_1_y} ${wrist_1_z}" rpy="${wrist_1_roll} ${wrist_1_pitch} ${wrist_1_yaw}" />
       <axis xyz="0 0 1" />
-      <limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}"
-        effort="${wrist_1_effort_limit}" velocity="${wrist_1_velocity_limit}"/>
+      <limit lower="${radians(wrist_1_lower_limit)}" upper="${radians(wrist_1_upper_limit)}"
+        effort="${wrist_1_effort_limit}" velocity="${radians(wrist_1_velocity_limit)}"/>
       <xacro:if value="${safety_limits}">
-         <safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+         <safety_controller soft_lower_limit="${radians(wrist_1_lower_limit) + safety_pos_margin}" soft_upper_limit="${radians(wrist_1_upper_limit) - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
       <dynamics damping="0" friction="0"/>
     </joint>
@@ -280,10 +280,10 @@
       <child link="${prefix}wrist_2_link" />
       <origin xyz="${wrist_2_x} ${wrist_2_y} ${wrist_2_z}" rpy="${wrist_2_roll} ${wrist_2_pitch} ${wrist_2_yaw}" />
       <axis xyz="0 0 1" />
-      <limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}"
-             effort="${wrist_2_effort_limit}" velocity="${wrist_2_velocity_limit}"/>
+      <limit lower="${radians(wrist_2_lower_limit)}" upper="${radians(wrist_2_upper_limit)}"
+             effort="${wrist_2_effort_limit}" velocity="${radians(wrist_2_velocity_limit)}"/>
       <xacro:if value="${safety_limits}">
-         <safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+         <safety_controller soft_lower_limit="${radians(wrist_2_lower_limit) + safety_pos_margin}" soft_upper_limit="${radians(wrist_2_upper_limit) - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
       <dynamics damping="0" friction="0"/>
     </joint>
@@ -292,10 +292,10 @@
       <child link="${prefix}wrist_3_link" />
       <origin xyz="${wrist_3_x} ${wrist_3_y} ${wrist_3_z}" rpy="${wrist_3_roll} ${wrist_3_pitch} ${wrist_3_yaw}" />
       <axis xyz="0 0 1" />
-      <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}"
-             effort="${wrist_3_effort_limit}" velocity="${wrist_3_velocity_limit}"/>
+      <limit lower="${radians(wrist_3_lower_limit)}" upper="${radians(wrist_3_upper_limit)}"
+             effort="${wrist_3_effort_limit}" velocity="${radians(wrist_3_velocity_limit)}"/>
       <xacro:if value="${safety_limits}">
-         <safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
+         <safety_controller soft_lower_limit="${radians(wrist_3_lower_limit) + safety_pos_margin}" soft_upper_limit="${radians(wrist_3_upper_limit) - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
       <dynamics damping="0" friction="0"/>
     </joint>