Remove the leaves from half of each rosemary sprig. Reserve the sprigs to use for skewers. Chop enough of the leaves to make 1 1/2 teaspoons. (Reserve the remaining leaves for another use.) Combine the olive oil, lime juice, garlic, cilantro, chili powder, and chopped rosemary in a medium bowl. Season the marinade with salt and pepper, to taste. Add the shrimp and toss until coated. Let stand for 5 minutes. Skewer 2 shrimp onto each rosemary sprig.
Heat a large, wide grill pan (or comal) over high heat. Add the skewers and cook for 1 minute per side, or just until the shrimp is cooked through and turns pink. Do not overcook. Transfer to a platter, garnish with the lime wedges and serve immediately.
*Make sure to buy rosemary sprigs with thick stems. Some rosemary twigs are very flimsy; you want the kind that are like a small twig, which will be strong enough to hold the shrimp. **Use the exact same marinade on chicken breasts and whole chickens for roasting. It's also great on any white fish fillet; just add a couple of tablespoons of butter to the pan drippings after the fish has been cooked and removed. Drizzle the sauce over the fish and serve! ***The chipotle chile is a smoked, dried jalapeno. They can be found dried, pickled or canned "in adobo" which is a sauce made with ground chiles, herbs, vinegar and spices. For this recipe, we will use the chipotle powder. Both types are sold in most supermarkets.