joint value out of bounds with continuous joints

[fevb]

Hi,

I've had issues in the past with moveit_commander when using arms with continuous ('infinite') revolute joints like the PR2

If such a joint is set a large value like 15.0 radians then it complains that the joint value target is out of bounds.

I've partially mended this situation by modifying move_group.py by normalizing all angles to be within the [-pi, pi] range. see my branch of moveit_commander here

Is there a better way to do this? (e.g. allow continuous joints to take on any values)