Preheat your oven to 425°F (220°C).
Rinse the chicken inside and out, then pat dry with paper towels.
In a small bowl, combine the minced garlic, chopped rosemary, salt, pepper, and olive oil to make a marinade.
Rub the marinade all over the chicken, including under the skin and inside the cavity.
Stuff the chicken cavity with the halved lemons.
Place the carrots, potatoes, and onion chunks into a roasting pan.
Place the chicken on top of the vegetables in the pan.
Pour the chicken broth into the pan to keep the vegetables moist during roasting.
Roast the chicken in the preheated oven for about 1 hour and 20 minutes, or until the internal temperature reaches 165°F (74°C) and juices run clear.
Baste the chicken occasionally with pan juices to keep it moist.
Remove the chicken from the oven and let it rest for 10-15 minutes before carving.
Serve the roasted chicken with the roasted vegetables and pan juices.
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