Roofnest Sparrow Adventure rooftop tent w/roof racks. Hard pop-up. Super easy to use, and very comfortable. Only used once. 
The new Sparrow Adventure is Roofnest's most versatile tent. Crossbars are included with the new built-in rail system, so you can load all your favorite toys on top — kayaks, skis, bikes, you name it (can carry up to 100 lbs closed, and 40 lbs open). The Adventure is easy to open and close, and has all the great features of our Sparrow line: a built-in storage area with a waterproof bag, comfy 3" foam mattress, windows and doors on all sides, and durable, lightweight construction. This do-it-all roof top tent sleeps 2+ adults, and allows you to store all your bedding inside your tent while traveling.

It's very hard to find one that has the roof racks on top of the tent, but I'm my opinion, they are a must have.