Combine 2 teaspoons oil, rosemary, and garlic in a large zip-top bag. Add beef; seal and marinate in refrigerator 1 hour, turning occasionally.
Remove beef from bag; discard marinade. Thread beef evenly onto 6 wooden skewers; sprinkle with 1/4 teaspoon salt and 1/4 teaspoon black pepper.
Combine remaining 1 teaspoon oil and juice in a large bowl. Add tomatoes, onion, bell pepper, and mushrooms, tossing to coat.
Thread each vegetable separately onto skewers; sprinkle with remaining 1/4 teaspoon salt and 1/4 teaspoon black pepper.
Place beef and vegetable kebabs on the barbecue coated with cooking spray. Grill onion and pepper kebabs 10 minutes. Grill beef kebabs 9 minutes or until desired degree of doneness. Grill tomato and mushroom kebabs 7 minutes.