I'm also on Rogers and the easiest and most effective solution I've found is simply to use their Roam Like Home plan, as that provides the same features and benefits I have at home for voice, text and data. I need to be accessible at my home number, so it's really the most practical option for me. I've used it in all the countries you mentioned (and more) and it has worked without any problems at all.
However, it is a somewhat expensive option at $15 per day for a maximum of 20 days in each billing period. I've used this for many years and find that $300 is not really a significant expense in the overall cost of a European trip. You'll have to compare your billing cycle with the dates of your trip to get some idea of the cost, or give Rogers a call to confirm the details.
Being able to use my phone the way I do at home with cellular data is a huge convenience during travels! I tend to use local WiFi sparingly, as I'm not always sure if it's secure. I prearrange bill payments before leaving home, but if I do have to do anything sensitive, I tend to use cellular data.