Nathan
Do you have a bike coalition membership? If so, I recommend borrowing one of their trailers (https://www.sfbike.org/bike-boxes-and-trailers/) rather than using a child carrier. A child carrier will probably work, but it will not be aerodynamic. The kid trailers are tall with a big opening and you'll feel the extra resistance. A simple flat cargo trailer will be better for what you want to do.
Nathan
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Here's what I recommend: front and rear Ortlieb panniers, with tent and sleeping pad bungied onto rear carrier. I have a Trek 520 that came with one of the sturdiest rear racks ever, added a Surly front rack, and have used for bike camping for 4 years now. My low gear, 22f x 34r, gets me over the VA Shenandoahs and western PA Alleghenies just fine, fully loaded. My current take on this: If it can't fit on the bike you won't want to pull it... I have a Bikes-at-Work (Ames IA) travel trailer that will tow 300 lbs, but even when modestly loading it (50 lbs) it becomes very tough to haul even on flat land. I have to agree with other posters than a child carrier would be terribly un-aerodynamic. Try to fit everything on the bike, start parsing out unneeded items until it does. :-)