The short answer is that yes, the definition of "rolling without slipping" is that the velocity is zero at the point of contact.
The longer answer is that definitions in physics are not quite the same as definitions in mathematics. In physics, one often starts with concepts that are physically meaningful, even if not completely precise, and then seeks to develop a mathematical model to understand the physical world. "Rolling without slipping" is something that we have an intuitive physical understanding of, but to study it precisely, we have to cast around for a mathematical definition that captures our intuition—if not with 100% fidelity, then at least with enough accuracy that we can do meaningful calculations and make testable predictions.
"Rolling without slipping" turns out to be unexpectedly tricky to model mathematically. It is tempting, as <PERSON> suggests, to define it by saying that "an object that rolls without slipping travels 1 circumference along the ground for every for every full rotation it makes." Unfortunately, as noted in a comment, this definition fails to capture our intuition when we roll a disc along a curved path. 544
The famous coin rotation paradox makes this clear. The outer coin makes a full rotation after traveling only 1/2 a circumference along the "ground" (the perimeter of the inner coin).
Another tempting idea is to define rolling without slipping in terms of a continuous one-to-one mapping of the points on the circumference of the wheel and the points on the surface on which the wheel is rolling. But once again, we run into a problem, this time with <PERSON>'s wheel paradox. With two concentric wheels, one can set up a situation where both the inner and the outer wheel are simultaneously rolling on separate surfaces, in such a way that there is a continuous one-to-one mapping for both wheels, but intuitively, it is not possible for both wheels to be rolling simultaneously without slipping.
The zero-velocity definition correctly captures our intuition about rolling without slipping in both of these cases (as well as in other cases), so that is why it has been adopted as the formal definition. 544