Most of it's been said already, so I'll just put in a couple small points. One, I'm ALWAYS amazed how much "stuff" the FJR holds. Just looking at the giant pile I have to load on is intimidating, but it takes it all. The worst part of packing for a long trip where you'll be camping is all the stuff you have to bring that you hope you won't even need, but you'd better have. Things like rain gear, plenty of layers for cold, cooling vest for heat, all your first aid gear, tools, tire repair stuff, etc. I always have a warm pair and a summer pair of gloves, too, plus a pair of cheap rubber glove covers from the Aerostich catalog for riding in heavy rain.
I do bring a tiny backpacking stove and small pot so I can make coffee in camp in the morning (plus a travel cup and a baggie with coffee, filters, creamer, sugar, and a spoon). Folks have commented about bringing too much. Too many clothes is a problem, especially cotton t-shirts and jeans. VERY bulky. I wear a lightweight pair of "travel" type pants under my Motoport pants, and bring a light base layer as a reserve. Same with shirts, one or two base layers and less bulky T's, and not many of them. I really love "travel" undershorts and socks, too, that you can find online. The stuff that will easily dry overnight if you give it a hand wash and hang. You can literally do with two pairs of each--easily--no matter how long you're gone. I also bought a package of "Purex Complete 3-in-1 Laundry Sheets" that are made to throw into a washing machine with a load--each dry sheet has soap and fabric softener impregnated in it. Saves a fortune at coin laundries if you use one, but I also cut a couple of them into about three strips, which is plenty for the hand washing I mentioned. I carry them in a Ziplock Baggie and they take up no space. Don't forget shoes, unless you love hiking in riding boots. I bring a pair of Teva sandals; they're comfortable and take up very little packing space.
I have a waterproof duffel strapped to the back seat with Rok Straps (NOT bungees!!) with all my camp gear. I always carry two or three freeze dried bagged meals from REI as "emergency" meals. I don't try to cook meals when I'm motorcycle camping. These things are very tasty and serve when it would be too inconvenient to stop for a meal somewhere, but it's just easier, less bulk, and faster to eat out. I also don't like having food on the bike if there are critters around, whether they're raccoons, skunks, or bears. A bear can get into a locked car as easily as you can pop a can of Bud. I'm pretty sure it wouldn't have much problem with an FJR side case. By the way, I carry a can of bear spray. Useful for bears, useful for feeling nice and secure in lots of situations. I don't want to mess with--or worry about--transporting a handgun. Not in the states I ride in.
Then there's hydration. I finally found the best way to handle that, for me. I have a "Camelbak" style backpack that I use, but it's very uncomfortable to wear when it's hot, and worse when I have the duffel behind me on a trip. I replaced the drinking hose with a longer one and strap it down kind of behind and over the duffel. Then I can reach back and drink while riding with the long hose. It probably helps that I have a modular helmet to get the mouthpiece in easier. Finally, I recently discovered "5-Hour Energy." (OK, somebody else actually discovered it, but I tried it and liked it.) I bought a case of it at Costco and bring a few on long trips. Some of those afternoons when the road is getting a little hypnotic, and especially if you're good and sick of coffee at that point, I really like the refreshing pomegranite flavor and it really seems to give me a good boost. Another recommendation. Anyway, have fun. I LOVE camping on the FJR!
(p.s., I'll ride in the rain, but forget camping in the rain. That's motel time.)