foundation-topbar-menu.php and foundation-topbar-walker.php should be required in the WordPress functions.php file.
The code in foundation-topbar.php should be added below the body tag in header.php
Setup a menu in WordPress admin under Appearance > Menus
Use the 'label' class on a menu item to create a menu section title
Foundation Top Bar Doc: http://foundation.zurb.com/docs/components/top-bar.html
Thank you so much for this code. I've got Foundation 5.0.2. working with normal nav and mobile. I'm wondering if anyone also had a problem with the dropdown menu's. I can't get them to work. I can click on the parent, and darkens it's color, but no dropdown appears. I've already tried z-index.