You don't necessarily have to drill holes in the roof to install your solar panel(s), some folks say that 3M makes a double-sided tape that can stick the panels to the roof, but I've never personally seen it done, or talked to anyone who's done it, so I can't say how well it works. Here's how our solar panels are installed...
We have six fairly large panels and each is mounted to the roof with four "Z" brackets. Those brackets hold the panels about an inch above the roof. A hole is drilled in the roof for each bracket, then Dicor (a self-leveling sealant), is squeezed into each hole. A nylon expansion plug is then tapped down into each Dicor-filled hole, and then the solar panel (with "Z" brackets) is put in place. A coarse-threaded stainless steel screw is run through each "Z" bracket and screwed into the expansion plugs. As the screws are tightened, the expansion plugs expand slightly, tightening themselves against the underside of the roof. That holds each panel firmly in place.
Apply more Dicor over the top and sides of each bracket to prevent water from getting in, and then clean, inspect and re-seal each bracket once a year and you're good to go.
Most lead-acid RV batteries need to be vented, because they can out-gass under certain conditions. We've got AGM batteries and they're supposed to be totally sealed and (supposedly) won't vent. I wouldn't trust them though. I'd recommend keeping your batteries somewhere that they can vent to the outside, not inside.
Kev