We have purchased the portable fencing panels so we can keep our dogs in an area around the RV without being on the leash the whole time. And yes, we will be outside with them when they are in the pen...
We use 2 portable pens hooked together, not attached to the RV , our Chihuahuas like the pen and do not try to escape. The Fl. state Parks we stay at do not mind this arrangement , and we can clean up their poop without any problem. we usually stay outside with them but they would be no problem as they have never tried to escape. We put a water bowl in the pen so they can drink when they get thirsty.