To BFL13 I agree with YC1. I am a mechanic and your alternator should put out between 13.5 to 14.5v. If your truck battery is not holding a little better than 12v.,then it also can be pulling amps for it. You need to get your battery load tested. Most local autoparts stores will do this for free. Its the ONLY way to test a battery correctly.
Getting back to your alternator: The nature of the way modern alternators work combined with a regulator should produce a steady amp rating at idle. It will go a bit higher at 2000 rpm but there shouldn't be that great of a difference. Start by getting both your batteries load tested and put a meter across your pos and neg truck battery post 1st with engine off key off, then during idle. check voltage. if you do not see and increase in the voltage from 12 to 13.5 after starting at idle replace the alternator.
As far as your original question, I've never seen anyone direct wire a camper battery off a alternator. It should work ok with the heavier gauge (thicker) wiring. Install a heavy duty in line fuse rated for the circuit just to protect the alternator. You can get them at places like Northern tool.
Good luck, and please post follow up after you check a few things!