If you never camp without a power connection, then a single Group 24 marine/RV battery will suffice. It should have an amp-hour rating of around 75 AH (based on Deka Marine Master DC24).
If you ever camp without a power connection, even for just a weekend, you definitely need a proper "deep cycle" battery (or two). As Herk said, there are lots of threads here dealing with deep cycle batteries.
2011 Rockwood Signature Ultra Lite 8293SS, 12K Equal-i-zer
2016 Ford F-250 XLT SuperCrew, 6.2L, 4x4, 6'9" bed, 3.73
2010 Rockwood Roo 23SS (2012 - 2014)
2009 Ford F-150 XLT SuperCrew, 5.4L, 4x4, 5'6" bed (2012 - 2016)