Once More, with Feeling
What are you trying to measure?
-- Voltage? Where and when? (And why?) As dwh has noted again and again, when the system is on charge, the voltage will be whatever it is, everywhere. You will want to note the voltage to satisfy yourself that it is with the proper range for your battery type. You can probably do this from the voltmeter on your dash. A second voltmeter on the camper battery is interesting as a gross indication of state of charge, but its reading is only interesting when the camper battery is being discharged and accurate when it is not. The only time that a voltmeter can really give you an accurate state of charge is when the battery is at rest, neither under charge nor discharge. When under discharge, the voltage will read artificially low. Which is why I usually argue that a second volt meter should not be on the dash, but rather in your camper space.
-- Amperage? Specifically ampere hours? This is what you really want to know as this tells you how much charge you are putting into your camper battery (to a large degree, your starter battery is irrelevant.), how much charge you are taking out, and finally, whether your camper battery is fully charged or not. The only way to get a good approximation of all of this is with an hour counter like the Bogart TriMetric. (We will ignore, for the moment, the expensive but easy to install Smart Gauge, sold by Balmar in the US; too much argument about whether it really works.)
An hour counter requires a properly installed shunt on the negative leg of the battery you want to monitor, usually the camper battery, but a TriMetric will happily measure two different batteries.
Is all of this worth it? For a simply 100Ah deep cycle battery under the hood, as understood by this thread, probably not. (And if you install an hour counter you no longer have a cheap system.) For a 200+Ah battery bank, stuck back in the camper, I would consider it essential.