tt <- as.Date("2000-01-01") + c(1, 2, 5, 6, 7, 8, 10)
z <- zoo(seq_along(tt), tt)
## - fill it out to a daily series, zm, using NAs
## using a zero width zoo series g on a grid
g <- zoo(, seq(start(z), end(z), "day"))
zm <- merge(z, g)

rollapply(zm, 5, mean, na.rm = TRUE, fill = NA, align = 'right')

2000-01-02 2000-01-03 2000-01-04 2000-01-05 2000-01-06 2000-01-07 2000-01-08 2000-01-09 2000-01-10 2000-01-11
         1          2         NA         NA          3          4          5          6         NA          7

2000-01-02 2000-01-03 2000-01-04 2000-01-05 2000-01-06 2000-01-07 2000-01-08 2000-01-09 2000-01-10 2000-01-11
1             1.5         1.5        1.5         2         3           4          4.5        4.5       5.5