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I'm not a Gazebo expert, but it might work, if you combine a prismatic and a revolute joint. You would then need to couple them for the proper simultaneous motion.

We have coupled joint in our robot, but the coupling and publishing of the according joint positions is done outside Gazebo (we are actually not using Gazebo, but the idea is the same).

So, I don't know if this could be done inside a Gazebo plugin or you would need to write an extra (ROS) node for publishing the positions for the prismatic and revolute joint.

Hope this helps a bit. Good luck!