My preferred method is two front panniers and a large dry bag on the rear rack. I roll my closed cell foam mat into a tube and push it into the drybag. Then I unroll it as much as possible creating a hollow cylinder that I shove full of camping gear. I can fit my tent, sleeping bag, pad and some clothing into it. One of the front panniers has the kitchen and pantry, and the other has clothing, toiletries and that other stuff.