The simplest solution is a few resistors in a passive summing box. Read
this. You may have to play with resistor values. I'm not familiar with the Boss RV-5, but I assume both outputs are buffered, which is good. You'll want a low output impedance for this to work well.
If you want to get more complicated, give
this a whirl. (
Here's the schematic.) If you don't need to control the level of each side independently, then you can replace the volume pots with 10k resistors to ground, tapped from the input side.