Fred, not only has your alternator probably failed, but the chassis batteries will have lost some potential, a good deal of it from my experience. If they have much age on them, you might consider new ones. Unless they are the rare and ill-advised instance of being deep cycle chassis ones, they will never be quite the same and will have at the very least lost some longevity.
As Gerald and others pointed out, you just didn't let the genset run long enough to get the batteries back up to where they could spin the engine. In a pinch where all banks were down, one could conceivably start the genset with jumper cables or a portable pack, then let it run 30 mins. to a couple hours and after Gerald's jumper suggestions before trying to crank the engine. The chassis set would just deplete again on the road unless you kept the genset on, so the prudent thing is a new alternator asap.
Make sure a new alternator is a Leece-Neville 160amp; one here recently had a shop put a 140amp one in, and it was inadequate. Then be sure in the future to charge up with the genset before driving after dry camping.
Joel