Place rosemary and crushed peppercorns in a small square of cheesecloth; tie to secure. Place cheesecloth bag, orange juice, and next 6 ingredients in a large saucepan; bring to a boil over medium-high heat. Reduce heat to medium-low; cover and simmer 8 minutes or until apple and pear are almost tender. Remove from heat, and let cool to room temperature. Remove and discard cheesecloth.
Make-Ahead Note: Compote can be prepared at least 2 days in advance and stored in refrigerator. Bring to room temperature before serving.