Believe me, the cat does not feel outnumbered - he alternates between being "one of the dogs" and "I am a cat, therefore I am boss over all of you (humans included)". His first camping trip was when he was 6 months old. Totally indoor cat - and before anyone asks, his litter box is kept in the shower.
Also, since it is just my husband and I for the human component, we rarely use the back bunk. Therefore the cat's dishes are kept on the "counter" ledge behind the wardrobe to keep the dogs from stealing his food, and I keep dry dog food in a bin on the floor next to the wardrobe. Dog food bowls are picked up after they eat, a water bowl is left in a corner on an absorbent mat to catch any dribbles.
Camping with animals is definitely do-able. Heck, before we had the camper (and cat) we took four Goldens to our breed's National Specialty show and camped in a 10x13 foot tent for nearly two weeks!! After that, being in the HTT is a piece of cake.
Tom and Judi Q
2008 Rockwood Roo 21SS, 2007 Toyota Tundra Dbl Cab
Diva, Sidra and Yaz - the Golden retriever gang
Ronan - the Maine Coon cat who rules the roost
Ogdensburg, NY