Unfortunately, no. There are a very large number of crib designs and not all of them are compatible with being rocked.
In general, if the crib is desiged in a way where you are able to rock it by hand, you can use the Baby Rocker and a Bed Adapter.
If the crib is made of wood you can attach the Bed Rocker Feet to allow the Baby Rocker to rock the crib.
Important note:
The crib cannot weigh more than 22kg/48lbs, excluding beddings and baby. The springs in the Bed Rocker Feet will be too compressed to allow for the rocking motion intended.