Just be aware that the ROS bridge IGMP querier is not VLAN aware:
Only untagged IGMP/MLD general membership queries are generated, IGMP queries are sent with IPv4 0.0.0.0 source address, MLD queries are sent with IPv6 link-local address of the bridge interface. The bridge will not send queries if an external IGMP/MLD querier is detected (see the monitoring values igmp-querier and mld-querier).
If you have VLAN filtering active on the bridge with IGMP snooping, learning and multicst forwarding properly works per VLAN, as visible in the MDB stats of the bridge.
But if the bridge acts as querier, the generated IGMP queries are always sent untagged. So if you have multicast clients on the bridge on tagged VLANs, they will not receive queries and those multicast forwards still will time out.
There are also multicast devices silently dropping IGMP queries comming from IP source 0.0.0.0.
This is quite a stupid limitation, which might be fixed in a future version according to MT support.