We have this dog pen. The photo shows just one, but we usually link 2 of these together to give the dogs more room. They are pretty heavy though, and probably overkill for our dogs, who would probably stay inside a pen that was only 2 ft. high.
We've never had an issue with setting up the pen at a campground. Our dogs rarely bark, and they are really only in the pen when we are outside anyway.
We sometimes use tethers when we don't want to pack or set up the pen, but they always seem to get tangled around something.