I've done a fair bit of camping with my set up and run Avon TrailRider AV54's for gravel and dirt/tarmac. Custom welded a luggage system up and used rubber sealed Ammo Cans .
I swapped my RS3 Yoshomira Pipe from my older Suzuki SV650S onto my 06 FZ6. A little custom fab was needed, but not too hard as I've a Lincon welder in the shop. Where the left side was empty i made a 4" cylinder w a cap end that holds tools and first aid gear. I take some photo's soon.