Called 3M VHB tape. Very High Bond.
Make sure to get a thicker version as it comes in different thicknesses. The thickness is like padding, and thick padding will conform to uneven surfaces better. 2mm should be plenty.
Similar to "double sided sticky tape" but VHB tape is much much much stronger of a bond.
As mentioned above... with rubber roff you will have to drill. Just make sure the screws going through the roof are accessible (not hidden under the panel) so you can re-do the decor lap sealant every year or two.
Otherwise tape on brackets with 3M VHB tape. I bought some aluminum angle iron from hardware store and used that as the mounting bracket, you can buy special brackets too.
For my last project I only had the brackets at the short sides, taped to the roof and I used two self-taping screws at each end to attach the panels (put one screw in on each side before taping so you don't put the brackets too far or too close together.)
The tape hold incredibly. Mine was on metal roof, and fiberglass roof and also a rubber-painted aluminum roof. I have never screwed into a roof (I have never had a rubber membrane roof either tho).
