Roasted Winter Vegetables with Rosemary and Calamata Olives

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1 medium potato (any kind), skin on, cut into 1/2-inch pieces

1 yam, skin on, cut into 1/2-inch pieces

1 carrot and/or parsnip, peeled and sliced into 1/2-inch slices

6 brussels sprouts

1 tablespoons olive oil

3/4 teaspoon salt

1/2 head garlic, cloves separated and skins removed

2 large shallots, peeled and quartered

1 yellow bell pepper, cut lengthwise into 1/4-inch strips

1 red bell pepper, cut lengthwise into 1/4-inch strips

1/2 cup Calamata olives, pitted

1/4 cup fresh rosemary or thyme, stems removed

3/4 teaspoon freshly ground black pepper