We had to use jumper cables for a week , it got us through. The easiest efficient way would be to take the battery out of the truck and replace it with the RV battery. That way the truck would not reduce charging due to the trucks battery not being low.
Long ago I would have started the truck, hooked up the cables and disconnect one of the truck battery cables but that truck had no electronics like newer trucks so I'm not so sure it would be a good idea.
The last possibility would be to hook up the cables and let everything sit for a few minutes. You would have to be careful if the rigs battery was too low as the two batteries will try to equalize but done right, the trucks battery should be pulled down a bit so that you would get better charging on the rig battery.