ConnectingWireless Sensor Network to the Robot Operating System is hindered by missing middleware for constrained devices like WSN nodes. Together with ROSSerial this paper presents first steps towards integrating the Wireless Sensor Network world with the Robot Operating System on the application layer. We have shown that despite the non-fitting design of the ROS message encoding (by simply sequencing all message members) an integration is achievable and that even a simple resource discovery approach can achieve robust functionality.