You're reading the documentation for an obsolete version. For the latest released version, please have a look at v10.9.
9.3 Appendix 3 - Routing ROS2 between Subnets
ROS2 by default uses multicast
High level setup for Meraki switches:
Create L3 interface’s on each vlan
Create Rendezvous point on the interfaces from step 1, with any multicast group.
Enable the Multicast routing.