Cut the courgette and aubergine into 5mm/¼ in slices. Cut the peppers in 5mm/¼in strips. Place all the vegetables in a roasting tin with the garlic and drizzle with oil. Season well with salt and pepper.
Roast the vegetables for 20 minutes, then add the drained artichoke hearts. Toss everything together and return to the oven for a further 5-10 minutes, or until hot. Remove from the oven and leave to cool.
When cool, toss the vegetables with balsamic vinegar and serve.