Eric&Lisa, you weave quite a tale based completely on your own thoughts.
You have no idea whatsoever why the ordinance in that town was written, but automatically assume it is a knee-jerk reaction to a homeless problem. How can you possibly "know" this? We have a similar ordinance in our rural town. To the best of my knowledge there has never been a "homeless issue" in my area. They also state you cant unhitch and leave your trailer in the street. Again, has nothing to do with homelessness.
So the code enforcement folks told the OP they cant sleep in the camper. Let them get a hotel in the area. They are not in a situation all that unique. I know many people (myself included) who needed to stay in a hotel near a relative to help out.
You guys are making way more out of this than there needs to be.