We took our daughter camping for the first time at ~6 months old. We would have gone sooner but the weather didn't cooperate. We had her in a soft thick bunting and intended to have her sleep on her own sleeping pad with a blanket over her but she ended up starting on her own pad but then halfway through the night she'd land in my sleeping bag up until she turned ~2. It's not "safe sleep" but I sleep light while camping and kept the blanket around her torso and not near her head.
I don't think you need that much honestly. If you are nursing it's even easier. Diapers, wipes, some way to wear the baby, maybe a few toys,...and then stuff you'd bring anyway 🙂
I think it's totally worth it! My daughter is 2.5 now and loves to camp. I have always had my husband to help out, though I'm sure you can do it by yourself, but if you have a friend or sister or someone who wants to come an extra pair of hands would be nice for when you want to go to the bathroom or cook dinner for yourself.
If you don't have an extra set of hands then it might be more enjoyable to wait until she can sit up on her own, but before she's crawling (5-7 months).