I wouldn't force it with my child. I had a friend who got really anxious being away from her family and I remember they sent her to the grade 7 camp and she was so upset. It was awful. She worked herself up so much that she was physically sick and they ended up having to call her dad to come and collect her on the first night.
Could you perhaps have a chat with her teacher (if they are going on the camp) and see if they have any suggestions? Is the camp going to be far from home? Is it feasible to send her for the first day but tell her that if she wants to come home that night then you will collect her? Maybe she will get there and have so much fun that she won't want you to and will stay. Only you know your daughter and how she may cope. I'm sure you will make the best decision for her