On most if not all motor homes the batteries are SUPPOSED to charge with driving, however there are a few conditions that must be met for this to happen.
1: Engine alternator must be working
2: Isolator device must be working
Optional 3: Disconnect must be in CONNECTED (On/USE) condition.. Note that this may or may not be required depending on the RV in question and the battery control system.
Of course #2 sometimes is a major issue.
Batteries are also charged BY THE CONVERTER (or inverter/charger) if it is operating properly and you are either plugged into shore power or running the Generator and the breakers are NOT tripped on same (Yes, tnat can be a problem).