I do lurk, so take that in mind. Also, I haven't done any RP (outside of PvP, heh) in Eve since I came back, outside of a few very minor conversations in the Summit.
Things change in the hectic world of Eve and I like a more lurking friendly atmosphere because I can better drop in and out of discussions. Maybe that's because I'm likely to be doing a few different things at the same time in Eve (or just on the computer outside of Eve) and not just role-play.
If I come to check a new channel which has just - let's say - two folks who immediately strike up a convo with me when I join the channel, I'll stay and RP for a bit as time permits, sure. However, that signals a non-lurking policy to me and unless I have some specific reason to I probably won't come back often knowing that the channel will monopolize my attention. These channels are more for the times when I just want some RP and won't be doing anything else.
If a channel has some lurkers and some RP, I'm much more likely to stick around for the long term which will result in more RP all around. Like said on the thread already, I'll listen on and enter the discussion when it's interesting.
To the question in the OP, no, I don't think seeing a bunch of lurkers speaks ill of the channel to me. Of course, a completely silent channel is a dead channel, but that's a bit of a different topic and I would generally agree that it is the channel owner's responsibility to make things happen in the absence of visitors who aren't being active.
But I can understand people wanting non-lurking channels where the idea is that if you sign in on the channel, you are there and for RP. It's just that I don't really prefer my RP channels that way.