Preheat the oven to 350. Arrange all the vegetables, except the asparagus, on a sheet pan and massage with the olive oil, making sure everything is covered, but not drenched. Combine the rosemary, pepper, and salt and sprinkle over the potatoes and vegetables.
Roast the vegetables and potatoes for about 30 minutes or until the potatoes are fork tender. Massage the asparagus with some olive oil, season it, and add it on top of the roasted potatoes and vegetables at the last minute, roasting for an additional 5 or 10 minutes. The asparagus should be bright green and still firm when held upright.
Serve all the vegetables and potatoes together on a serving dish!