I grew up camping as a YMCA summer camp kid. It was low rent -- the counselors were teens with trucks, a few "tents", and a lighter or two. We had a blast, even though pillows were seen as a luxury. I think I got pink eye about half a dozen times while camping in fields with these guys.
Now I love a little more lux with my camping! I like to control the indoor temps, cook outside, hike, and feel comfortable while I'm camping. My family is getting on board with camping, which makes it even better.