Pretty much that. It's also very simple nowadays. you just tick the box on the Wireless Security tab, and check that the mobility domain match between all the APs - it should by default, I think it's derived from the SSID.
Be aware that there might be compatibility issues. I enabled it on a pair of OpenWRT-running APs, and the handoff worked fine for my laptop, but my phone would claim to be successfully associated/authenticated with the new AP, but traffic wouldn't flow. Turning off 802.11r fixed the issue completely, and it turns out I don't really need it after all, as my devices seem to roam properly and the reauth is pretty quick.