Spray a large nonstick skillet with cooking spray and set over high heat. Add the sausages, mushrooms, adn zucchini. Cook, stirring frequently, until the sausages and vegetables are lightly browned, about 6 minutes.

Stir in the beans, diced tomatores, tomato sauce, water, and rosemary; bring to a boil. Reduced the heat and simmer, uncovered, until the vegetables are tender, about 2 mintues. Remkove from the heat and stir in the arugula until it wilts, about 1 minute.