Roger is a British expression that means sexual intercourse from a male perspective, either straight or gay.
A slang expression that means to sexually penetrate somebody with your penis.
When the penetratee is male it is synonymous with bugger, when the penetratee is female it is synonymous with shag.
And yes, we made the word “penetratee” up!
“My aim was to roger her senseless, but I’m not sure I succeeded!”.