I was happy to rough camp and have done so 20 or 30 times, getting the kit right makes the night more comfortable.
A 'bivvy' type water resistant sleeping bag, a tarp & a camo bike cover is all i took on my rough trips. I also tried a 'mountain shelter' but that was very stuffy and I got as wet from condensation as I did from rain/dew. If it was going to be cold i'd take a bed roll
Usually I just rode until near dark, pulled up a tiny country lane, nipped into a field and set up camp there. I was only approached once by a farmer. he was surprised and had only spotted me because he saw the steam off my kettle, a cup of tea and a buscuit and a promise to leave no rubbish or crap in his hedge and he was happy. I think he was expecting poachers or pikies so was pleased to find me.
Lean the bike on it's side stand (leaning away from you) pop the camo bike cover over the bike then string the tarp up between the bike and the fence/hedge/wall and bobs yer mums brother, normally i'd advise leaving your expensive tarp at home as damage is inevitable. However I have an Exped Tarp which has elasticated strings and plenty of guy ropes, that helps make setting up neatly a doddle.
If you are easily freaked by nature, pick and choose your spot well, I liked tucking in behind dry stone walls (not draughty) but they tend to channel the wildlife along them so there is always the chance of a late night 'visit' from a local.
Hedges are surprisingly see through when daylight comes around
I'm not much into cooking and eating my own shit & snot, so i've normally got a good stock of goodies with me, a hot cup of tea and a chocolate hob-nob can easily chase away the blues.
I bought an old sailing night vision monocular from a guy here a few years back, that is brilliant at settling the nerves on real dark nights. I don't normally use a torch at all, there is a corny old saying about 'use a torch and only see a few feet, don't use a torch and see the world' it's very true. An LED head torch can be seen for miles and is the best way to attract people to your camp. unless you have a red lense or a dimmable jobbie, use some tape to cover most of the head torch lens just leave a tiny hole that will be enough for furtling in the dark for your baccy.
Good luck
