Google will crawl and index the URLs. You need to submit them at https://www.google.com/webmasters/tools/submit-url?pli=1
Not only google but you can submit the URLs in the same way to other search engines also.
Thanks and Regards,
Google will index the pages, but it may not be able to find all the available pages, regardless of RH version and output type. This happens because the crawler won't execute the scripts required to view the Table of Contents, Index, etc. So only the pages that the crawler can find links to will be indexed. These typically are files that are linked to from other indexed locations such as your website.
If you want to have Google, Bing and others completely index your help system, you will have to provide a sitemap. Your developers or web admins should be able to create a sitemap for your help. Or you can opt for my paid solution: http://www.helpessentials.com/downloads/sitemap-generator-for-robohelp/