A "rook lift" is the attackers best friend. A rook can only be lifted through a break in the pawn chain.
Pawns must be exchanged to develop a hole through which rooks can be lifted and this is simply termed: "opening lines"... i.e. pawn exchanges open lines.
Cecil J Purdy- an Australian correspondence player1- whom Bobby Fischer called one of the games best teachers, said that you want a plan for both rooks to enter the game by the 12th move.
Rooks can also be called, "The Heavy Pieces", and the simple idea is to get your heavy pieces into the game! Be aware that some people say that when you take one of the rooks, "The back is broken!"
A stricter set of rules says that: place your Rooks on open files or openable files.
It has also been said that you should never start your final attack until until your Queens Rook is in the game.
You will find by looking through most games that most rooks are connected and centred by the 12th move.
Always remember that doubled rooks are more powerful than separated rooks .. separated rooks is better than having only one rook of course: once again- when 'the back is broken' it is a disadvantage under normal cirucmstances.