I just did a search for Waukesha and the surrounding area, I found several condos that are listed as rent with option to buy. Several are located in the "Homestead Complex" at University Drive & Northview Rd.
They have 1 and 2 Bedroom units. I am familiar with the complex and they also have underground parking. Prices run from $115,900 - $189,900.
Hope that helps.