You showed two batteries... The first (Pair of six volt) is the house battery, the 2nd (Single 12 volt) is the engine battery. Since your RV is a 1987 I am going to guess the starting battery has been replaced at least once and if so it is due for replacement once again however I make the following observations.
Side terminal batteries do not need to be cleaned as often as top terminal... but they still need it, That would be my first step, Remove the cables (one at a time) and wiresbursh the contact area.. I ALSO notice they use proper battery connections, More on that in the HOUSE part of this post. (This is a good thing by the way)
House batteries likewise you are likely on your 2nd or 3rd set.. Here corrosion is a major factor since that cable may well need replacement.. I mentioned proper battery connectors in the Engine part.. At least some of the wires connected to the house batteries do NOT have proper terminal lugs for battery connecting.
Combine two DIFFERENT metals,, Electrical current, and a bit of acid, either liquid or vapor, and you get CORROSION!!!!!!! as you clearly photographed.
NO in my case: I inspect the house batteries often but the starting battery is a tad hard to access.. Damon put the blasted same kind of ring terminals that they used on the house (Wrong ones) and corrosion happened.
I ended up modifying so the assorted wires hook to a termnal block and a proper battery cable, with a lead terminal hooks to the battery.. Result.. Less corrosion.