I've camped on almost every bike trip I've ever been on and have been with dozens of different riders who have different types of gear. For me it comes down to two things, being able to haul it, and comfort when you use it.
I carry a nylon dome tent, about 7' X 7'. It's big enough that you can have all your gear in it and still have enough room to sleep comfortably. It's also tall enough to stand up in, stooped over, which is like heaven when you're trying to get dressed on a cool or rainy morning. The guys who have brought those coffin sized tents have usually hit the first sporting good store for a dome tent after a couple of days. Set up the tent in your back yard and spray it with a water proofer. The best tents have a plastic tarp like tub on the bottom that comes up a few inches on the side and a full rain fly which you'll love if it rains all night.
I carry a full sized sleeping bag, one good down to 30 degrees or so. Plus one of those fleece blankets that can be rolled up small. It's so much easier to sleep with the bag open if it's warm than to lay there and shiver all night because you are freezing to death. That small fleece blanket will add a huge dimension of warmth too on a cold night. Just roll it up in your sleeping bag. I usually sleep with a light wool cap on cold nights. Keep your head warm and your toes will stay warm. Don't forget some sort of pillow. A travel type "My Pillow" is great. Rolls up tight. Just put it in your sleeping bag when you roll it up.
Nothing is worse than sleeping on a rock all night or a pinecone that's underneath your tent. I carry a single sized Coleman air mattress. Thing is like five inches thick when it's blown up, and big enough to give lots of comfort. It makes any irregularities on the sleeping surface a non-factor. Insulates from the cold ground too. I carry a simple Coleman battery operated air pump that inflates the mattress in a minute or so. Speaking air mattresses, the biggest mistake guys do is too much air. Put enough air in it so that your butt barely touches bottom when you sit on it. That will be perfect to sleep on. Also, put your mattress and sleeping bag diagonally in the tent so that you have more head room and foot room from the tent wall. Even the best tents will get a little moisture inside.
I carry the sleeping bag and mattress and pump in a duffel bag strapped to the rear seat (tough to do if you're riding two up). That gives me room in my trunk for rain gear and jackets where I can get at them easily. Clothes, tools, toiletries, and so on go in the saddle bags. Wrap everything, especially clothes and sleeping bag in plastic trash bags. I've seen lots of high dollar saddle bags that leak when riding in the rain all day. A wet sleeping bag and wet clothes suck. Tent goes on top of the duffle bag. Use ratchet straps t keep everything secure. Guy I know used bungee cords, but it went WAY bad when his bag came loose and got down into his rear wheel on the Interstate at 75 mph. He's no longer with us. Make sure everything is secure.
I always carry when I tour. A small 9mm. I'm licensed to carry, but not all states recognize it, so I don't carry loaded. I just keep it locked in the saddle bag with a magazine in my tank bag. Then I just slip the magazine in it at night. Never had a problem, but did have something snooting around out side one night in Wyoming that had me wide awake with that 9mm in my hand. NEVER have any food in your tent. Bears can smell a candy bar even buried in the bottom of your sleeping bag. You should have seen what they did to our tents as a kid at the Philmont scout ranch to to get to a candy bar! Not being able to carry really spooked me while traveling in Canada, as they have BIG bears up there. But we camped for ten days and never had an issue.
We never cook when we tour. Eat at restaurants. Get up and ride a couple of hours, then stop for breakfast. Snack for lunch when getting gas, then somewhere decent for dinner after camp is set up. Love KOA's and such that have showers and sometime hot tubs. I do carry some emergency rations. Can of beans or jerky, can of peaches, pop tarts, etc. as we've had to dry camp with now chow eating places for miles. Hang them in a bag in a tree or on a poll or something.
If you do stay in a motel, lock the bike up. We cable ours together, plus put a disc lock on it. Helps to sleep at night. That's why I prefer camping as the bike is three feet away instead of two stories down in a parking lot.


