Yes. Neither Rockbot nor any other background music service provide can provide licenses for music played on your TV’s, whether the TV’s are playing broadcast TV or an internet music video site such as Vevo or YouTube. All four US PROs (ASCAP, BMI, SESAC, etc) require that you obtain a direct license to cover music played on your televisions. If someone represents to you that their video service includes licenses for your TV’s, be sure that the licenses read clearly that the licenses include indemnification for all right's through to the end user of the service.
In the case where you keep your TVs on mute you should not need an additional license. However, be aware that the PROs will often send people to your businesses unannounced to confirm that the volume is not audible - particularly if you are an NFL Sunday Ticket customer.
DirecTV specifically excludes PRO coverage in the business subscriber agreement and we are not aware of other cable or satellite services including coverage other than in the case of their background music subscription services which are sometimes offered for an additional fee and would still only provide coverage for the music service.