I've used Great Stuff under the camper to fill the same kind of holes. Even used it inside to fill the 4" hole the galley and bath sink drain pipe goes thru the floor
. Careful, that spray foam can be a mess to work with. Don't ask me how I know this. I would suggest wearing disposable gloves and your oldest clothes. I've found when exposed to sunlight it will break down after several years. And forget about saving any unused portion, the nozzle will clog.