In terms of sleeping in a tent, we just brought along one of those old school bubble wrap mats and put Iris' co-sleeper pad on top of that, which worked great! She slept right beside us so it was almost like our sleeping situation at home. I was debating whether to just have her sleep on the air mattress with us (especially since it can get cold at night) but that made me a bit nervous. There was one morning where she had squirmed right off of her pad but you can't really fall off the floor so it was no big deal.
One night it was really cold and this was something I was kinda nervous about before we left but I just layered up her onesie and sleeper with socks and then tucked her under 2 warm blankets. In the morning when we woke up we just pulled her into bed with us until she woke up and all 3 of us cuddled under the sleeping bag, it was so cozy.
If she was content, we put her in this bouncy chair thing while we set up the site/ cooked food/ cleaned up/ read books etc. If she got cranky and we needed both sets of hands, we just put her in a carrier. (We're big fans of the Ergo and Solly Wrap).
One of my favourite parts about camping with Iris was bringing her to the lake. Since you're not supposed to put sunscreen on babies under 6 months, being out in the sun at the beach during the day was kinda out of the question. So we just waited until after dinner when the sun was setting and bonus, it was pretty cloudy both times so we didn't stress the sun thing too much.
I really expected Iris to freak out in the water, just because it's definitely colder than bath time, but she was so calm. We stripped her down (kids pee in the lake all the time right?) and took her in and it was so great!
Overall, camping with a baby is totally doable. And really, not that different than camping with just the 2 of us. We're looking forward now to our Tree House Adventure at the end of the month with Iris in tow :)