In light of the evolving landscape of future converged networks, heightened demands for scalability and performance have become paramount, particularly in the industrialcontext where enhanced flexibility, adaptability, time synchronization and deterministic low latency are key features. Time-Sensitive Networking (TSN) has been introduced to provide converged networks with determinism. To mitigate the complexities associated with cabling requirements, Wireless Time-Sensitive Networking (WTSN) emerges as a more suited solution in industrial applications that need mobility. This study presents an application in smart manufacturing that incorporates WTSN technology. Specifically, it focuses on a scenario where an Unmanned Ground Vehicle (UGV), under the control of an edge controller connected through a wireless link, operateswithin a critical environment subject to constraints such as to avoid obstacles and to build a real-time map of the surrounding area. The mapping outcome performed by the edge controller demonstrates the effectiveness of the WTSN capabilities.