Your idea of a perfect camping trip may be squelched because the park you wanted to visit does not allow pets. As rules and regulations vary tremendously, you must plan in advance. Never assume that last year's policy still holds or that because a place seems like a pet-friendly establishment it is. The National Park Service has no umbrella policy on pets. They recommend checking ahead with each park.
Many places do allow pets, but never assume, always check first.
There are several useful books that offer good advice on traveling with pets. Eileen's Directory of Pet Friendly Lodging by Eileen Barish is a wonderful resource. The book also lists other general useful information to know when traveling with your pet, such as animal first aid. When on the road and in a hotel be sure to obey the rules of common sense. Keep your pet under control at all times and never allow him to bother others.