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How to achieve planar joint?

I need to define a joint that is moving in x-y plane but is fixed in z plane. On ROS wiki page, there is a list of joint, which says a planar type of joint can be defined, but if I run the model in Gazebo simulation, it says the type of joint is unknown.

I have defined two link each of which I assigned a prismatic joint, one in y axis, the other in x axis. If I could somehow use one mesh for the both links, it would be sufficient, but I can't imagine how could that be possible.

I need a way how to make my mesh element move in plane in Gazebo simulation. How can I do that?

How to achieve planar joint?

I need to define a joint that is moving in x-y plane but is fixed in z plane. On ROS wiki page, there is a list of joint, joints, which says a planar type of joint can be defined, but if I run the model in Gazebo simulation, it says the type of joint is unknown.

[ WARN] [1539099575.602332867]: Converting unknown joint type of joint 'joint_planar' into a fixed joint

I have defined two link each of which I assigned a prismatic joint, one in y axis, the other in x axis. If I could somehow use one mesh for the both links, it would be sufficient, but I can't imagine how could that be possible.

I need a way how to make my mesh element move in plane in Gazebo simulation. How can I do that?