Would also help to know what other loads are pulling the batteries down. There are lots of small things that add up to a large draw. (CO2, carbon monoxide detector, the converter itself, tank monitors those kinds of things) add in a large fridge and it's no wonder the battery is down when you get to camp.
My Nissan Xterra "charge wire" was only 14ga! WAY too small for charging a battery located 20' away. I ran an 6ga wire, (even that is too small if the battery is really down) but since we go on LONG trips, it works out fine.
As stated measure the voltage at the truck battery (with the truck running preferably at about 2000 RPM to simulate driving) them measure the voltage at the camper battery. Bet you will find they are different by over .5 volts. That low and the camper battery can never fully charge. You need to run larger wire to eliminate the voltage drop.