Since I've been in the business, rock speakers have been available.
Can you drive them? Yes, and no. Your subwoofer will need a matching amplifier to drive it properly with a crossover designed for it, or it may have an internal passive crossover to deal with the audio frequencies on it's own. Not sure what speaker you have, but generally subs need a fair bit of power.
With a speaker selector, I wouldn't expect much in the way of power that will be going to the speakers either.
It would be helpful if you would list the equipment you have. If you do NOT have the equipment yet, then it would be good to let us know what you are looking at/considering and tell us that.
Frankly, it seems like you have all bunch of gear already and are now asking for help on setting it up, and it may very well be completely the wrong stuff.
I would have picked up a nice multi-channel amplifier from Craigslist that is outdated (no HDMI), but plenty powerful enough to drive all the speakers at once (except the subwoofer), and picked up a dedicated subwoofer amplifier. Then I would have hooked up a product like a Wiim Pro to it and called it a day.