diff --git a/ur_description/config/ur10/joint_limits.yaml b/ur_description/config/ur10/joint_limits.yaml
index 9778c2601..9e55c53cb 100644
--- a/ur_description/config/ur10/joint_limits.yaml
+++ b/ur_description/config/ur10/joint_limits.yaml
@@ -15,9 +15,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 330.0
-    max_position: 6.28318530718
-    max_velocity: 2.0943951
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
   shoulder_lift:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -25,9 +25,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 330.0
-    max_position: 6.28318530718
-    max_velocity: 2.0943951
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
   elbow_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -45,9 +45,9 @@ joint_limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    max_position: 3.14159265359
-    max_velocity: 3.14159265359
-    min_position: -3.14159265359
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -180.0
   wrist_1:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -55,9 +55,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_2:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -65,9 +65,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_3:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -75,6 +75,6 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
diff --git a/ur_description/config/ur10e/joint_limits.yaml b/ur_description/config/ur10e/joint_limits.yaml
index 0213e8406..983a43ce1 100644
--- a/ur_description/config/ur10e/joint_limits.yaml
+++ b/ur_description/config/ur10e/joint_limits.yaml
@@ -15,9 +15,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 330.0
-    max_position: 6.28318530718
-    max_velocity: 2.0943951
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
   shoulder_lift:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -25,9 +25,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 330.0
-    max_position: 6.28318530718
-    max_velocity: 2.0943951
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
   elbow_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -45,9 +45,9 @@ joint_limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    max_position: 3.14159265359
-    max_velocity: 3.14159265359
-    min_position: -3.14159265359
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -180.0
   wrist_1:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -55,9 +55,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_2:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -65,9 +65,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_3:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -75,6 +75,6 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
diff --git a/ur_description/config/ur16e/joint_limits.yaml b/ur_description/config/ur16e/joint_limits.yaml
index 65f7d56d3..272bb4843 100644
--- a/ur_description/config/ur16e/joint_limits.yaml
+++ b/ur_description/config/ur16e/joint_limits.yaml
@@ -15,9 +15,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 330.0
-    max_position: 6.28318530718
-    max_velocity: 2.0943951
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
   shoulder_lift:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -25,9 +25,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 330.0
-    max_position: 6.28318530718
-    max_velocity: 2.0943951
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
   elbow_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -45,9 +45,9 @@ joint_limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    max_position: 3.14159265359
-    max_velocity: 3.14159265359
-    min_position: -3.14159265359
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -180.0
   wrist_1:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -55,9 +55,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_2:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -65,9 +65,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_3:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -75,6 +75,6 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
diff --git a/ur_description/config/ur3/joint_limits.yaml b/ur_description/config/ur3/joint_limits.yaml
index e0ff1150b..461288abf 100644
--- a/ur_description/config/ur3/joint_limits.yaml
+++ b/ur_description/config/ur3/joint_limits.yaml
@@ -15,9 +15,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   shoulder_lift:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -25,9 +25,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   elbow_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -45,9 +45,9 @@ joint_limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    max_position: 3.14159265359
-    max_velocity: 3.14159265359
-    min_position: -3.14159265359
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -180.0
   wrist_1:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -55,9 +55,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 12.0
-    max_position: 6.28318530718
-    max_velocity: 6.28318530718
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  360.0
+    min_position: !degrees -360.0
   wrist_2:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -65,9 +65,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 12.0
-    max_position: 6.28318530718
-    max_velocity: 6.28318530718
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  360.0
+    min_position: !degrees -360.0
   wrist_3:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -75,6 +75,6 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 12.0
-    max_position: 6.28318530718
-    max_velocity: 6.28318530718
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  360.0
+    min_position: !degrees -360.0
diff --git a/ur_description/config/ur3e/joint_limits.yaml b/ur_description/config/ur3e/joint_limits.yaml
index 8d536c13b..85b6f644f 100644
--- a/ur_description/config/ur3e/joint_limits.yaml
+++ b/ur_description/config/ur3e/joint_limits.yaml
@@ -15,9 +15,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   shoulder_lift:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -25,9 +25,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 56.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   elbow_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -45,9 +45,9 @@ joint_limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    max_position: 3.14159265359
-    max_velocity: 3.14159265359
-    min_position: -3.14159265359
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -180.0
   wrist_1:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -55,9 +55,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 12.0
-    max_position: 6.28318530718
-    max_velocity: 6.28318530718
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  360.0
+    min_position: !degrees -360.0
   wrist_2:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -65,9 +65,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 12.0
-    max_position: 6.28318530718
-    max_velocity: 6.28318530718
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  360.0
+    min_position: !degrees -360.0
   wrist_3:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -75,6 +75,6 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 12.0
-    max_position: 6.28318530718
-    max_velocity: 6.28318530718
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  360.0
+    min_position: !degrees -360.0
diff --git a/ur_description/config/ur5/joint_limits.yaml b/ur_description/config/ur5/joint_limits.yaml
index 493ea55ec..28eacc3d9 100644
--- a/ur_description/config/ur5/joint_limits.yaml
+++ b/ur_description/config/ur5/joint_limits.yaml
@@ -15,9 +15,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 150.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   shoulder_lift:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -25,9 +25,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 150.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   elbow_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -45,9 +45,9 @@ joint_limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    max_position: 3.14159265359
-    max_velocity: 3.14159265359
-    min_position: -3.14159265359
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -180.0
   wrist_1:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -55,9 +55,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 28.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_2:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -65,9 +65,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 28.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_3:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -75,6 +75,6 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 28.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
diff --git a/ur_description/config/ur5e/joint_limits.yaml b/ur_description/config/ur5e/joint_limits.yaml
index 1e2404272..dddc059a8 100644
--- a/ur_description/config/ur5e/joint_limits.yaml
+++ b/ur_description/config/ur5e/joint_limits.yaml
@@ -15,9 +15,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 150.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   shoulder_lift:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -25,9 +25,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 150.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   elbow_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -45,9 +45,9 @@ joint_limits:
     #
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
-    max_position: 3.14159265359
-    max_velocity: 3.14159265359
-    min_position: -3.14159265359
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -180.0
   wrist_1:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -55,9 +55,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 28.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_2:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -65,9 +65,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 28.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
   wrist_3:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
@@ -75,6 +75,6 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 28.0
-    max_position: 6.28318530718
-    max_velocity: 3.14159265359
-    min_position: -6.28318530718
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0