There can be multiple things limiting the charging current.
First, the Ridgeline voltage. If the Ridgeline system voltage falls very much, the charging will be greatly impacted. Note that whenever the Ridgeline is in PARK, the system voltage should jump up to a higher voltage, around 14.4V, I think. So for testing your charging issues, sitting with the Ridgeline in PARK should produce good results.
Next, the circuit resistance. There's a fairly long run of wire from the Ridgeline alternator through the Ridgeline fuse box to a relay, then all the way back to the 7-pin connector, then through the connector and onto the camper pigtail, then to your camper terminal block, then through your camper wiring to the battery. Any resistance at any splice or connection or even through lower-than-optimal wire gauge will cause some resistance and therefore some voltage drop. This is easy to check for with a handheld volt meter. Just meter across the Ridgeline battery to see what the Ridgeline voltage is. Then meter across the camper battery to see what the camper voltage is. If there's any difference between those two readings, then you have voltage drop somewhere. Tracking that voltage drop down can help improve battery charging. But if the Ridgeline reads 14.4V across the battery and the camper also reads very close to the same, then the charging issue isn't a Ridgeline problem. The Ridgeline is outputting as much voltage as it safely can and it's making it all the way back to the camper.
Then there's the state of charge of the camper battery. As the camper battery charges, it's voltage will increase leading to a smaller and smaller voltage difference between the charger voltage and the battery voltage. As that voltage difference decreases, the internal resistance of the battery becomes a bigger and bigger player in limiting the charge current. So applying 14.4 V across a nearly dead battery that measures 11V will yield a very large charge current. But applying the same 14.4V across a charged battery that measures 12.6V will yield a very small charge current.
There's also the possibility that the camper battery is simply old and no longer has very much capacity. A low capacity battery won't accept current like a new battery will.
As far as where to connect the aftermarket battery charger... I described that just a few posts ago. On the camper, you will want to disconnect the charge pin and feed it into the charger input. Then connect the charger output to the same terminal where you disconnected the charge pin. This isolates the Ridgeline charge pin from the camper so that the Ridgeline charge pin is ONLY feeding the aftermarket charger. Then connect the charger common to the camper common.