Not with just Roku devices. You could get a network tuner like the ones from SiliconDust. They have a Roku channel/app that will allow you to watch antenna TV on any TV with a Roku. You need a multituner unit if you want to be able to watch multiple OTA channels at the same time.
I'm sure there are other options for network tuners, but they're the one I have some experience with, although I don't use their Roku channel.
There's also Locast if it's available in your area, but I have no experience with them.
And, there's always the option of using a splitter to connect the one antenna to multiple TVs. Requires being able to get the cable to the TVs and an amplifier is recommended.
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I'll add to what @renojim said with two other options: Tablo and Air TV. I've used both, and they work well. I prefer Tablo, but that's a personal preference.
You connect the TV antenna to the device, and connect the device to your network. Preferred way to connect via Tablo or Air TV is Ethernet cable, but they do support wireless. I connect via Ethernet cable. I then load the app (Tablo app, or Sling TV app for Air TV) and the app finds the device. They also have DVR capability, if you want that.
Tablo charges $5/month for 2-week guide. Air TV includes 2-week guide.
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