desire (v.)

late 14c., consideren, "to fix the mind upon for careful examination, meditate upon," also "view attentively, scrutinize; not to be negligent of," from Old French considerer (13c.) "reflect on, consider, study," from Latin considerare "to look at closely, observe," probably literally "to observe the stars," from assimilated form of com "with, together" (see con-) + sidus (genitive sideris) "heavenly body, star, constellation" (see sidereal).

Perhaps a metaphor from navigation, or perhaps reflecting Roman obsession with divination by astrology. Compare desire (v.), from  Latin desiderare "long for, wish for; demand, expect," the original sense perhaps being "await what the stars will bring." 

De Vaan considers various alternative etymologies for the Latin verb but endorses none. In 20c. Tucker doubted the connection with sidus, because it is "quite inapplicable to desiderare," and suggests derivation instead from the PIE root of English side meaning "stretch, extend," and a sense for the full word of "survey on all sides" or "dwell long upon."

It is attested from 1530s as "to regard in a particular light." Related: Considered; considering.

"things desired or desirable, that which is lacking or required," 1650s, plural of desideratum, Latin, literally "something for which desire is felt," noun use of neuter past participle of desiderare "to long for" (see desire (v.)).

A Latin word in English; other offshoots of the Latin verb were nativized in Middle English: desiderable "wished for, desired" (mid-14c.), also "worthy of being admired;" desideracioun "longing, yearning" (late 15c.); desiderantly "with ardent desire" (c. 1500). Also compare obsolete desiderate "feel a desire or longing for" (1640s).