Preheat oven to 400°F. Place salmon and asparagus on large baking pan coated with nonstick cooking spray. Drizzle with olive oil and season with salt and pepper. Top with lemon slices and chopped rosemary.
Roast salmon and asparagus 10 to 12 minutes or until fish flakes with fork and asparagus is tender. Garnish with fresh rosemary sprigs, if desired.
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