It always depends on the position, but in the early stage of the game it is almost always a mistake to give up two developed pieces for a rook and a pawn. One reason is that you are usually exchanging off two of your developed minor pieces for a rook that isn't doing any thing much. Another reason is that the rooks are often the last pieces to get in the game. In the mean time, those pieces can run wild.
Towards the end of the game, those rooks have plenty of open files and ranks to maneuver on, and the rook and pawn can be stronger than the two minors
Personally in my matches, the rook always destroys the two pieces but that is just me.