Will Sonos Work w/ Tivo Roamio?

I have a Tivo Roamio and a Sony Soundbar that gives me passive control over three devices (Tivo, Apple TV, and Cable Box). I am interested in upgrading to a Sonos sound bar because of its high marks on various review sites.

Will the Roamio work with the Sonos sound bar? How would I set it up? Will I get the full Dolby Experience? Do others recommend it?

Will Sonos Work w/ Tivo Roamio?