Yup! It's right on the path. Which Rochester park were you planning on camping at? The whole Genesee Valley Park/Mount Hope Cemetery/Highland Park system is really large, quite nice, and very well kempt, but has lots of foot traffic, and few very truly "hidden" areas. From the canal you can follow "Lehigh Valley Trail" due south and be pretty hidden, and close to the canal. If you want to see Rochester and camp in the city, you can do a great 9 mile ride north following the
Genesee River Trail to Seneca Park. This paved rail traverses the mighty Genesee River four times over paved pedestrian bridges, gives overlooks to huge waterfalls (a 96 foot drop and 110 foot cascade) , and winds through a number of Frederick Law Olmsted designed parks. In the northern section of Seneca Park you'll find a wooded dirt trail into thick cliffside acreage overlooking the river, with access to a mellow wade in the river for a relaxing swim. If you want to put a few more miles under your belt, and camp overlooking Lake Ontario, ride through the Seneca Park trail and then only four windy downhill miles to Durand Eastman Park, which features 5000' of beachy coast, with plenty of trees on the beach to hang a hammock, or go into the woods for the park's Arboretum, with an extensive pinetum and hilly patches overlooking the lake. Lots of nice options!
Also, I know you're coming from Youngstown, NY so you'll probably just shoot straight to Lockport, but there's an extensive trail system from Tonawanda to Lockport, following the Tonawanda Creek. You can see much of this system on Google Maps, mostly off-road on paved trail, but there's also a brand new section from Pendleton, NY to Lockport, following the canal on the Bear Ridge Road side. I still can't find any website for it, and it's not on Google Maps, but I know it exists because I rode it last year. Honestly the pavement was less than a week old when I rode it, and it was great.