Combine sugar and water in a small saucepan; bring to a boil. Reduce heat, and simmer 4 minutes or until sugar dissolves. Add rosemary; simmer 5 minutes. Remove from heat. Pour sugar syrup into a bowl; cover and refrigerate overnight.
Uncover sugar syrup; remove and discard rosemary sprigs. Combine the sugar syrup, juices, and soda in a large pitcher. Serve immediately over ice.