In large bowl, toss tomatoes, eggplant, zucchini, onion, rosemary, half the oil, half the salt, and half the pepper until well coated. Place on rimmed baking sheet. Roast 30 to 40 minutes or until vegetables are tender and beginning to char, stirring occasionally during roasting.
Meanwhile, heat grill on medium-high heat. Cut each chicken breast lengthwise in half. Brush chicken with remaining oil; season with remaining salt and remaining pepper. Grill 10 to 12 minutes, turning once, until chicken is no longer pink in center. Remove from grill.
Heat rice as directed on package.
Divide vegetables, chicken and rice among 4 dinner plates.