Preheat the oven to 425°F.
In a small bowl, mix together the olive oil, rosemary, thyme, parsley, garlic, salt, and pepper.
Rub the herb mixture all over the chicken, including under the skin for extra flavor.
Squeeze the juice of one lemon half over the chicken and place the lemon halves inside the cavity.
In a large bowl, toss the baby potatoes, asparagus, and carrots with a drizzle of olive oil, salt, and pepper.
Arrange the vegetables around the chicken in a roasting pan.
Roast the chicken and vegetables in the preheated oven for about 1 hour and 15 minutes, or until the chicken reaches an internal temperature of 165°F and the juices run clear.
Baste the chicken with the pan juices halfway through cooking for added moisture.
Once cooked, remove the chicken from the oven and let it rest for 10-15 minutes before carving.
Serve the chicken with the roasted vegetables.