Implimenting joint limits from the joint_limits.yaml

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Hello all,

I am trying to implement joint limits on a ur5 robot arm. Specifically joint position limits. I've updated the joint_limits.yaml to the desired values and I've confirmed that parameters have been loaded into the rosparam server correctly. However upon execution the robot happily violates the joint position parameters that I've set.

Am I missing something. Do I need some extra configuration such as using the joint_limits_interface c++ API to load the limits and implement on the hardware?

Is there a better way of doing this, such as specifying the joint limits in the urdf? I have tried to do this but again the robot seems to violate the positions that I've specified.

Thanks in advance.

Nick