I tried Rack and Pinion coupler, but I am able to select either slider or revolute joints, not both.
Please refer to attached image.
I am using a fixed rack, a revolute (rolling) pinion and a slider support rod.
When keeping the support rod as base link for pinion, I am unable to select the created slider and revolute joints together.
(However, when base link is not selected, I am able to select both joints, but Pinion is then not rolling, just revolving.)