In a large bowl, mix the first eight ingredients. For skewers, strip leaves from bottom portion of rosemary sprigs, leaving 1-2 in. of leaves attached at top; reserve 1 tablespoon of the removed leaves. Finely chop reserved leaves; add to parsley mixture. Add shrimp; toss to coat. Refrigerate, covered, 30 minutes., Thread shrimp onto rosemary stems; discard remaining marinade. Grill, covered, 2-3 minutes on each side or until shrimp turn pink. If desired, serve with lime wedges.