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gazebo supports a screw joint natively, if you take a look at pr2_description, there's a small example in torso.gazebo.xacro:

  <joint:screw name="${name}_screw_torso_lift_joint">
      <body1>${name}_motor_screw_link</body1>
      <body2>${name}_link</body2>
      <anchor>${name}_motor_screw_link</anchor>
      <anchorOffset>0 0 0</anchorOffset>
      <axis>0 0 1</axis>
      <threadPitch>3141.6</threadPitch>
  </joint:screw>

here is a video of a simple screw joint

if this is what you were looking for, I can provide a more succinct example?