In most states, the insurance company is required to make you "whole" again. That means provide you with the money to repair the vehicle back to its original state before the incident less any deductible. The insurance adjusters estimate of what it will cost to repair may not be what it will actually cost to repair. Remember, the adjuster's job is to minimize the costs of any claim, so you would be wise to get your own estimate, or estimates, of the repair costs.
Having said that and with no lien on the RV, those dents in the rubber roof actually affect it very little. You should consider just pocketing the money from the insurance!