Early in the game, with a generally cluttered board, the bishop and knight are worth more than they are later in the game, when the rooks can be very dominant. At almost any time in the game a one-for-one swap (a bishop for a rook or a knight for a rook) is generally beneficial to the one who gets to take the rook.
However, at almost no time in the game (unless very late, when most of the pawns have been cleared and the rooks are so valuable) is a rook worth a bishop and a knight. That’s a tough trade-off to justify.
Finally, though, it all depends on how that game in front of you is played. If you can make that sacrifice, and by doing so put the king into a trap position that leads to checkmate or, failing that, a worse trade-off for the opponent (like losing his queen, for example, because of a fork or forced block with the queen), then it’s worth it if it can put you into a winning position.
Any sacrifice is worthwhile if it leads to a win (or saves you from losing, if the game was going badly against you). No one can say “always” or “never” about most games. (Can’t even say “no one”, actually.)