Two reasons some people don’t like camping: it is wet AND cold, and uncomfortable. This does not have to be.
A properly positioned tarp and a fire will take care of the former: the usual 1m tall hiking tent which you are forced to retreat to in the event of rain will make your trip unpleasant (wet & cold). For many years I have employed a square tarp (2.4 x 2.4 metres is sufficient) pitched diagonally against (eg) a tree with a fire out in front. I have added ‘wings’ to such a tarp to improve the shelter. You will have seen this in some of my previous posts.
As to the second: you need an inflatable INSULATED pad (a good ultralight pillow will also help) at least 2 ½” thick. I have found the Thermarest womens-neoair-xlite (http://www.cascadedesigns.com/therm-a-rest/mattresses/fast-and-light/womens-neoair-xlite/product) to be superb (R=3.9, 340 grams) but it IS expensive. If you are a bit shorter of cash (AND Stronger) Big Agnes’ pads @ R= 4.1 (eg the petite @ 499 grams) http://www.moontrail.com/bigagnes-insulatedaircorepads-78-mummy.phpare quite wonderful! I would couple either with an Exped UL pillow (@ 45 grams) eg http://www.moontrail.com/exped-airpillow-ul-m.php ) and a good quality down bag for a delightful night’s sleep in the outdoors.