This is what a Scout packs for a typical weekend camping trip with Troop 23. Each trip's own page has the final word for that trip — the season, the campsite and the program change what you need, and the trip page says so under What to Bring.
Pack everything in one backpack, not a duffel bag: a Scout wearing a pack has both hands free to carry patrol gear from the cars, which is how the Parent Guide asks it to be done. Mark clothing and gear with the Scout's name.