My wife and I have talked about this many times. If we could do it over again, we would have let our 2 children sleep with us much longer. We worked hard to keep them in their own beds. But looking back now, I wish we wouldn't have been so insistent. From day 1, our son slept in his own crib/bed. Our daughter slept with us until 6 months (and we never rolled over on her and squished her either). Occasionally they would crawl in bed with us, but most of the time we ushered them back. Looking back, I really miss those cuddle times.
What I'm saying is, let them sleep with you. They'll think the camper is REALLY REALLY special then. So, what's a few kicked ribs in the middle of the night. 25 years from now, you'll look back with fond memories.
(My son is now 28, my daughter 26) and have their own world their living now.