Welcome to iRV2.
The first thing I'd check is the ground (negative) connection at the battery and also where it connects to the rig's frame. After that, I'd make sure the positive terminals are good and clean.
If still only getting 6 volts at the loads (lights, appliances, etc), I'd look at the relay in the converter to make sure it was allowing the 12v DC from the battery to pass when the converter isn't powered with 110v AC.
If you have 12.8v at the batteries when disconnected from shore power and it's only 6v down the circuit there almost has to be a high resistance connection somewhere in between or a bad ground. Good luck, let us know what you find.