I was involved with the Scouts for years. I had gone through the outdoors training from council and I or some other person with the training had to be present for any camp outs.
The thing was to get them into earning badges while they were camping. There are many activities like swimming, camping, hiking, orienteering, etc that get them out and moving. All the badges are listed in the handbook and the kids like getting something in return for doing something.
Neither of mine made Eagle in Boy Scouts, but man they each had a ton of badges. Plus with summer camp, they had to do a pretty tough swim class to be allowed to do the water activities.
Rob