I use a four person 9x8 "backpacking" dome tent (Pacific Crest Rock Creek) that you can buy online all day long for under $60. Works great, good deal $$ vs. quality, quick and easy for one person to put up/take down, lightweight, packs into a tube case only 24" long, and tons of room inside for gear, changing clothes, whatever. I'm a slide sleeper, so my hips and shoulders demand an air mattress. I carry a Coleman twin from Walmart that folds up into its own case, and a 12 VDC air pump (DC outlet on the bike). In some ways it's more comfortable than my real bed (I've considered using it at home). The only camping items I carry are the tent, sleeping bag, air mattress, and a tarp/ground cloth.
On extended moto-camping trips, I mix up camping with a night in a basic, Motel 6-type place now and then to have some of the "luxuries" of modern life, such as a hot shower, electricity, a solid roof over my head, and a door that locks. It's amazing how luxurious an M6 can seem after several nights of moto-camping, although some commercial campgrounds I've stayed in for a few bucks a night had some pretty nice shower and sanitary facilities.