At home, a contractor installed a plastic shower pan that was the footprint of a standard bath tub. I was concerned of the pan suspended and a heavy person stepping over the hollow area with potential of breaking the pan. The contractor told me they place blobs of a material on the floor under the pan, before setting it in place. The blobs conform to the bottom of the pan and once cured, the pan becomes properly supported. I don't recall what that supporting material is.
Bob's story about spraying expanding insulating foam through a hole would pretty much accomplish the same thing. The expanding foam conforms to the shape of the shower pan, curing hard enough to support the weight of a person without a worry. For a new PC pan installation, It seems feasible to drill small holes through the main PC floor, just large enough to insert the foam application tube, to spray underneath the pan from the under the vehicle. Spray a little more as you remove the nozzle to seal the holes drilled. You might even be able to avoid drilling holes in the RV sub floor by inserting the tube through the existing hole from the shower drain pipe