I followed the rough rule of thumb of 1 Watt of solar panel output for every 1 AH of battery capacity and it turned out to be more than adequate with our 220 AH of battery capacity and 200 Watts and 11 amps of solar panel output. We never drop below 80% DOD and usually it takes less than 3 hours after sunrise in any kind of weather except rainy days to get back to 100%.
A good panel to consider is the 140 Watt Kyocera which is well made and good size in terms of length and width (narrow enough to both fit in a space and to not be affected by shadows from anything on the roof) for RV's and very reasonably priced.