I think Mole' has about the simplest scheme, just mount the thing on the ladder. The distance away from the radio makes very little difference, just have more coax than needed to reach between the two. Making sure the ladder is grounded to the chassis is a very good idea. I'm not a big fan of using braid for ground straps, I've found a 'solid' metal strap lasts much longer when exposed to weather, etc. But, whatever you happen to have.
I would tend to think that making a solid, or secure mount to fiberglass would be the hardest part of mounting an antenna on the top of a motorhome. If you can do that, then running a few 'radials' shouldn't be a biggy at all (wire, metal foil, metalized tape, whatever else). As long as those radials or counterpoise are longer than the antenna used, they should work reasonably well. About nine or ten feet is a nice round number to aim for (it isn't that critical), and the more the merrier. Spreading those radials out in a sort of regular pattern is nice, but not absolutely required. Gluing them to the roof is a good idea too (ducktape!).
About the only thing that I'd really sort of worry about is mounting the antenna to that ladder in such a way as to not hang you up when using the ladder. Poking an eye or some other tender part of a body.
- 'Doc