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As per ROS REP 103: Standard Units of measure and Coordinate Conventions, units in Gazebo should be specified in meters and kilograms. (...)

https://www.ros.org/reps/rep-0103.html

It looks like it depends on the controller:

http://wiki.ros.org/ros_control#Controllers

https://answers.gazebosim.org//question/4205/joint_state-ros-topic-from-gazebo-and-ros_control/

and a type of the controlled joint (http://wiki.ros.org/urdf/XML/joint):

<limit> (required only for revolute and prismatic joint)

An element can contain the following attributes:

• lower (optional, defaults to 0)

An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.

• upper (optional, defaults to 0)

An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.

As per ROS REP 103: Standard Units of measure and Coordinate Conventions, units in Gazebo should be specified in meters and kilograms. (...)

https://www.ros.org/reps/rep-0103.html

It looks like it depends seems to depend on the controller:

http://wiki.ros.org/ros_control#Controllers

https://answers.gazebosim.org//question/4205/joint_state-ros-topic-from-gazebo-and-ros_control/

and a the joint type of the being controlled joint (http://wiki.ros.org/urdf/XML/joint):

<limit> (required only for revolute and prismatic joint)

An element can contain the following attributes:

• lower (optional, defaults to 0)

An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.

• upper (optional, defaults to 0)

An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.