Preheat an outdoor grill to medium heat.
Bring a pot of water to a simmer. Gently poach the sausages for 8 minutes. Remove the sausages from the water and allow to cool.
Alternately skewer the bread and the sausage onto the rosemary branches.
Grill skewers until bread is toasted and sausage is browned, about 7 to 10 minutes, brushing with olive oil if necessary. Serve immediately while warm or at room temperature.