Shouldn't be any problem to go touring with a race bike as long as you don't take too much of a load and the gearing is appropriate for you, the load, and the terrain.
I've gone on bike camping trips with my Cannondale crit-geometry frame and saw no serious problems with it other than not allowing the use of regular fenders or tires wider than about 25mm.
I'd suggest using a regular rear rack and panniers using vinyl-coated P-clips. They provide solid support and avoid the issue of possible overloading of the seatpost with a post-mounted rack.