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ROS Controlled Linear Actuator (Prismatic Joint) Moving Dependent Joints

Hello,

I'm fairly new to ROS and Gazebo, i'm currently trying to make a custom ROS robot and simulate it in Gazebo.

Is it possible to have a prismatic joint (linear actuator) move other dependent joints?

C:\fakepath\Slider_Crank_Mech.png

For example in the picture. I'd like to replace (a) with a linear actuator moving the other links/joints pivoting around points (b) and (c).

Any help would be appreciated!

Thank you!

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