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:

1. Create L3 interface’s on each vlan

2. Create Rendezvous point on the interfaces from step 1, with any multicast group.

3. Enable the Multicast routing.