You mention that you have a single battery in your camper. 200 watts should be a good match for a single battery to fully charge it every day, provided that there is good sunshine. Others have made good points about determining if a single battery is enough to live full time on. You'll have to make that determination.
Solar panels are connected to a solar charge controller which is then connected to your battery bank. The controller determines how many amps are delivered to the batteries in order to maintain the appropriate charging/float voltage. The amount of panel wattage (and type of controller regarding PWM or MPPT) determine how many amps are available for battery charging. There isn't really any "plugging in" of a solar system or integration into the other existing camper wiring, it's wired to the batteries like I just mentioned.
Many folks use DC to AC inverters to have access to 120 volt AC electricity from their 12 volt DC batteries while off grid. The amount of 120 volt AC available is completely dependent on the capacity of the inverter and its installation, and the size of your battery bank. Some use solar to help with recharging the batteries and some do not, but a solar charging system is completely independent from a power inverter.