dubya dubya dubya dot motocampers dot com has all the answers for ya!
My answers are:
Yes, I camp. I have used a three person tent, and a monster 6 person tent. I strongly suggest that you get the largest tent you can comfortably set up yourself. Not only is a roomier tent more comfortable, but weight really isn't much of a consideration.
A cot can be good, but all except for the LuxuryLite take up a lot of room. The LL looks to be very good, but it's very expensive. One downside with a cot is that it has no bottom insulation, so it can get cold. LL suggests using a old-school foam pad for the insulation. It does work, I slept on a cot for four months.
I have moto-camped using a self-inflating pad, a old style foam pad, and an airmattress. The problem with an air mattress is it lacks insulation, so it can be cold. This may be an advantage when it's warm out. If you're a side sleeper, you'll need to go with a thicker self-insulating pad. Again, weight isn't an issue (the bike's doing the heavy lifting), but space may be.
I have camped out of a Bushtec cargo trailer, and just the bike. The trailer is certainly convenient, and effectively puts any gear space issues to rest. Truth is, having a trailer encourages bringing more stuff than you'll generally use, but I consider it well worth it.
Having a seating option is much appreciated by many riders. The Kermit Chair is the top of the class, but there are other options as well.
My current gear:
Marmot NeverWinter Down bag OR Marmot 15d Synthetic Bag.
Marmot Limelight 3 tent OR REI Hobitat 6 tent
Coleman Twin Airbed w/ rechargeable pump OR REI Basecamp 3.5 self-inflating mattress.
A small memory foam travel pillow. NOT the Therm-a-rest pillow, just one I picked up at a department store a few years ago.
Check out
www.motocampers.com for input from many other motocampers.