diff --git a/collada_urdf/manifest.xml b/collada_urdf/manifest.xml
index 50b67c6..b315558 100644
--- a/collada_urdf/manifest.xml
+++ b/collada_urdf/manifest.xml
@@ -11,4 +11,5 @@
   <depend package="colladadom" />
   <depend package="assimp" />
   <depend package="resource_retriever" />
+  <depend package="angles" />
 </package>
diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp
index cc4633f..1ce34c7 100644
--- a/collada_urdf/src/urdf_to_collada.cpp
+++ b/collada_urdf/src/urdf_to_collada.cpp
@@ -56,6 +56,8 @@
 #include <urdf/model.h>
 #include <urdf/pose.h>
 
+#include <angles/angles.h>
+
 #include "STLLoader.h"
 
 using namespace std;
@@ -533,8 +535,8 @@ public:
                         // <limits>
                         domJoint_limitsRef limits = daeSafeCast<domJoint_limits>(revolute->createAndPlace(COLLADA_TYPE_LIMITS));
                         {
-                            daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower * (180.0 / M_PI);
-                            daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper * (180.0 / M_PI);
+                            daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = angles::to_degrees(urdf_joint->limits->lower);
+                            daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = angles::to_degrees(urdf_joint->limits->upper);
                         }
                         // </limits>
                     }
@@ -916,7 +918,7 @@ public:
         rot->getValue()[0] = ax;
         rot->getValue()[1] = ay;
         rot->getValue()[2] = az;
-        rot->getValue()[3] = aa * (180.0 / M_PI);
+        rot->getValue()[3] = angles::to_degrees(aa);
         return rot;
     }
 };
diff --git a/stack.xml b/stack.xml
index e907ec8..ea2973b 100644
--- a/stack.xml
+++ b/stack.xml
@@ -12,7 +12,7 @@
   <url>http://ros.org/wiki/robot_model</url>
   <depend stack="common" /> <!-- tinyxml -->
   <depend stack="common_msgs" /> <!-- sensor_msgs -->
-  <depend stack="geometry" /> <!-- tf, kdl, tf_conversions -->
+  <depend stack="geometry" /> <!-- angles, tf, kdl, tf_conversions -->
   <depend stack="ros" /> <!-- rosconsole, roslib, roscpp -->
 
 </stack>