I'd say it mostly depends on the pawn structure. If the rooks have a lot of space and open lines to move around, then the rooks should be better; if the position is a bit more closed, then the queen's ability to move diagonally should make it superior.
the good ol' 2 rooks vs queen
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Most people would agree that this debate is entirely dependant on the specifics of the game, so instead of a general '2rooks vs queen' question, how about this;
1) considering ONLY the middle game since that typically decides the outcome of the game 9/10 times
2) the rooks are connected but you guys can choose if it's a kingside or queenside castle I don't think it matters as much as some people would argue
3) you can play around a lot with what minor pieces are on the board but for this example let's just say that black and white have 2 bishops and a knight each
In this case what would really be better? My guess is that the queen is better since a lot of pawns would still be on the board but thats my opinion. Thoughts?