As far as I know there are no actual "campgrounds" in the Boulder area. (Maybe something new opened up in Four Mile Canyon?) However, if you've got a car you can find some nice and free camping on FS land within 10-15 miles of Boulder. Switzerland trail has camping all along it and is passable with most vehicles. Camping at the end of Lost Angel road is also an option I believe. This will put you directly above and within easy walking/rappelling range of some great climbing/hiking in Dream Canyon!