Preheat oven to 400°F. Line a baking pan with parchment.
Place garlic, rosemary, and salt in a small bowl, and crush garlic into a past with the back of a spoon. Add oil and freshly ground black pepper to taste and stir to combine.
On prepared pan, place a layer of eggplant slices. Brush with oil mixture. Add another layer, and brush with oil mixture. Continue until all eggplant is layered.
Roast in the oven until starting to char, about 30-40 minutes. Let cool.
Reduce oven to 350°F for baking the assembled lasagna.