CozInCowtown has it exactly right! 8 and 9, is a great learning age for camping. The more independence you allow them to develop, the more they will enjoy the camping adventure. Aren't you taking them camping to teach them stuff?What is gonna happen???
Get them a freakin' tent and let them have some fun!!!
Set down a basic set of rules and turn them loose. You will still be just feet/yards away in the next tent over.
At the worst you and your significant other will have to sleep in a tent together without kids around, what could possibly happen???
DC