We present BARAKA, a new simulator for SANETs. The evaluation of algorithms developed for communication and co-operation in this context is usually accomplished separately. On the one hand, network simulation helps to measure the efficiency of routing or medium access. On the other hand, robot simulators are used to evaluate the physical movements. Using two different simulators might introduce inconsistent results, and might make the transfer on real hardware harder. With the development of methods and techniques for co-operation in Sensor/Actuator Networks (SANETs), the need for integrated evaluation increased. To compensate this demand, we developed BARAKA. This tool provides integrated simulation of communication networks and robotic aspects. Thus, it allows the complete modelling of co-operation issues in SANETs including the performance evaluation of either robot actions or networking aspects while considering mutual impact.