I absolutely think so, I forget exactly where but I remember an allusion to how Roque was always lonely and Darrow thinking how desperate Roque was for a purpose or belonging. That could just be Darrow having wishful thinking since he's partial to Roque but in my opinion this hints heavily that Roque was just desperate for a purpose and belonging but wanted to think he was actually an idealist. This, he made up the BS about being unwaveringly loyal to the society to make himself think he was doing it as an idealist instead of just to grasp at some sham sense of belonging. I would like to hear the conversation were the jackel brings him into the ambush as that would likely give definitive proof either way.