On a rubber roof, don't use anything that contains petroleum distillates or mineral spirits. Dicor is the big brand in rubber (EDPM) roofs, and for caulk/sealant you would use lap sealant, either self-leveling or regular.
HOWEVER, there is no caulk around the a/c unit, there is a rubber gasket that seals the a/c to the roof. When the a/c unit is fastened to the roof, the gasket compresses and forms the water tight seal. Many times that gasket will shrink over time, and the unit can be resealed by removing the interior trim and tightening the mounting screws to further compress the gasket. This is a relatively easy process and the RV shop that's fixing your outlet can probably do this in 10 minutes.
IF the gasket is due for replacement, the a/c unit needs to be lifted off the roof so the gasket can be replaced and reinstalled, obviously a much bigger job because those units are heavy.
DO NOT try to caulk or apply sealant around the outside of the a/c, you won't be able to get the caulk in far enough under the exterior shroud to reach the mounting plate, and it will just gum things up if the gasket needs to be replaced.