Put on soft-soled shoes so you don't damage the roof. Climb up on the ladder located at the rear of the camper. Inspect the roof for problems like loose caulking, cracks, holes and thin spots. Be sure to check seams and seals. Make any necessary repairs.
Wash the roof three or four times a year. Mix a bucket of water with enough mild laundry detergent to make a sudsy solution. Dip a brush into the bucket and gently scrub the entire rubber roof. Rinse off with a garden hose.
Apply a protectant to the camper roof to make future cleaning easier. It also will help make the rubber more resistant to stains. Read and follow the manufacturer's instructions on the product container. You basically spray it on the roof, and use a cloth to wipe it around the entire area.