We camped at Thanksgiving when each of our girls were 4 months old. A pack-n-play was their playground and their bed at night. We didn't have a screen to go over it, but we fashioned one out of netting. It worked great and the girls are now 10 and 7 and we camp for the 3 months that they are out of school in the summer and several other weeks when they are on vacation.
While they are newborns, they are easy, it's when they get to walking and jabbering that they are hard to camp with. Somebody has to constantly be within arms reach and there is no "down" time unless they are in the bed.
We just temporarily removed our dinette cushions and put them in the house. That was the pack-n-play space and stayed there for two years. (The good part was that the cushions looked almost new when we put them back in.)
When the baby gets a little older, if it's warm, and they can sit up on their own, a small baby pool with about 1/2 gallon of water will keep them occupied for hours. Give them some plastic cups, spoons, etc. You still have to be right there, but they are usually content. If the water gets "dirtied", just clean it out, dump the remaining water and refill it.
My girls attended two different Jr. Ranger camps this summer and are on their way to being naturalists.
Get them hooked on camping early and they will camp when they get older. It's a good family activity and you will be closer to your children.
2017 Ford F350 Crew Cab 6.7L 4x4 DRW