We are very fortunate that our Spoodle not only allows us to come camping with him, but also allows us to share his bed of an evening.
He loves camping and as soon as we start putting food in the CT he goes crazy and does not settle until he is strapped into the car. On the odd occasion we camp where dogs are not allowed he will not go near us for some time after we get home.
As far as during the day goes it depends on the site. If dogs must be "under control" then we let him be off lead as much as possible (he does wander but only to make new friends). Otherwise I teather him to the wheel of the camper with a long lead (about 5m) which he promptly wraps arounds the wheel, legs of any chairs/tables present, people's feet and my favourite the bucket under the sink (why are my shoes getting wet...........damn dog has moved the bucket again). We tried a spike int he ground which he prmpty managed to pull out, perhaps time for a bigger spike.
Our dog is not only toilet trained, he is trained to go to the toilet on command, this helps heaps on long trips where we have to stop enough times for the daughter and wife. If I had to stop especially for the dog we would never get anywhere.
Bunyip