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I was able to solve my problem with a workaround by setting mu1, mu2 to zero and slip1, slip2 to one for the caster. This means, that there will be no friction between the ground and the caster.
Anyway, I am still interested in my initial question. How do I implement a joint with two rotational degrees of freedom? I think this will be relevant for me in the future, since I want to experiment as well with a robotic arm in ROS.