I have the same problem.
Whenever I go anywhere for an extended period of time, EVEN if it's somewhere I'm familiar with or been before (even if it's with family, close friends or my partner) I panic because of all the things that could go wrong and what if I have an episode in the middle of everything and have nowhere to go? Then I will have to rely on people and ruin their experience and what if no one is strong enough to handle my situation? I get so worked up with fear. Sometimes it even prevents me from participating although I am pretty good at challenging myself and going anyway. Anxiety can be a life-ruiner if it's not challenged.
It's hard to think of myself as anything but a nuisance when I have all of this stuff going on. I am constantly afraid my friends/partner are going to leave me because they're tired of me and SO over what I'm going through. But it hasn't happened yet. In fact they are more supportive every day. Nobody expects me to be a superhero; that's just me putting unfair and harsh expectations on myself to be perfect as always.
Everyone falls apart sometime. What I find is that when I sign up for things and I tell people about my condition, they're like, Cool, just let us know if you need anything and we'll help you out. Even if that means a 3 hr ride home from camp. Even if that means getting you to the hospital because you're freaking out. Even if that means just sitting and talking with you.
But of course, ANXIETY tells me that I'm all alone. It singles me out. It makes me worry and fret and not do stuff with other people.
Hopefully camp went well and you had a good experience despite the anxiety.