Do I go or not?

My bf likes to hike, camp, backpack, anything outdoorsy. I’m not the outdoors type but go on the easier hikes once in a while. He wants me to go camping with him but I don’t want to. It’s not that I don’t want to spend time with him, I do. I just don’t enjoy camping because I can hardly sleep among other things. For our six month anniversary he bought me a backpack and sleeping bag. I realize that was sweet because he wanted to include me in that part of his life. What should I do?