I went camping at around 25 weeks, and had an OK time...
It would have been much better if my DH hadn't had to fly away on a business trip at the last minute, and if my brand new fancy air mattress hadn't been leaky (I woke up every 30 minutes because my hips were on the ground, had to climb out of bed & turn the pump on to inflate it again), and if it hadn't rained most of the time. Fortunately, I was camping with a big group of friends, on our annual camping trip to the ocean, and had plenty of other company & help.
Here's what I'll take along for my next pregnant camping trip:
-My DH. It was no fun being in that big old tent alone!
-A queen-sized air mattress that self-inflates and doesn't leak (and a tent that fits the mattress). Not exactly roughing it, I know
-LOTS of prepared, healthy snack food. I brought a ton of prepared food, but didn't always feel like making up an entire meal. More finger food would have been better than my more complete meals...I did have a big tupperware container of fruit salad made up, and that was perfect.