When kids arrive in kindergarten, there will be some important safety rules for the kids to follow. Practicing some rules at home or in daycare makes it much easier to learn new ones. Kids already know what safety means and have experiences with rules. Part 
of readiness for kindergarten is awareness of safety and safety rules.
Camping definitely has some safety concerns for parents and caregivers. Staying close enough to the camping area and staying far enough from the campfire are 2 biggies. Lots of supervision is needed when kids are young to keep them safe and lots of guidance as they learn to follow these safety procedures. Kindergarten readiness is much more than academic issues. Preparation for school needs many kinds of lessons and camping is a fun way to learn some safety ones. Think those marshmallows are ready?