The first is the most obvious. This would be a combination of jumping jacks, lunges, squats, plane, push-ups, etc. AARP has an excellent thirty minute workout on their website that incorporates all of these exercises and more.
Another obvious routine is to carry a yoga mat and find a good yoga routine that fits your style. Many of these routines can be found at the App Store or free on You Tube. As with yoga routines, Pilates require very little equipment. A good set of resistance bands and a mat is all you need. Of course, both with yoga and pilates, you can add accessories to help expand your exercise routines, but you are adding weight and taking up space in your RV.
Now for my all time favorite, resistance tubes! I purchased a set from Black Mountain for $35. It came with 5 tubes of different strengths, handles and a variety of accessories. It all fits in a handy zippered bag. Using resistance tubes, one can mimic many exercises that are done with dumbbells and other strength equipment. You can also use them with your pilate routines. As with yoga and pilates, you can find many videos to get you started. I find resistance tubes give me the most versatility in my workout routines.
I cannot go without saying that Sherrian and I incorporate our workouts using the above equipment along with our bicycling, walking, hiking and an occasional swim.
Have fun camping and have fun. As Mr. Spock used to say, "Live long and prosper."