Well, you have to look at the position and see which set left ON the board are better.
Rooks are generally better with less pawns on the board because they have better chance of being active. Two well placed rooks obviously out muscle a well placed queen on an open board.
And so, early in the game it's often better to have the queen as the rooks can't match her majesty's mobility with all those pieces crowding things up.
So giving up your rooks for the opponent's queen early in the game may be winning. In the middle game it's a bit like giving endgame odds, so you should have good reason (their rooks can't get too active). And in the endgame it can be a losing exchange.
i just had a game were i traded my 2 rooks for my opponents queen. my opponent said 9 out of ten times that is a bad thing to do. now i have been playing chess long enough to know that everything else being equal (position, material, etc) that this is a fairly even trade. what do you good people think?