Je was op zoek naar: pitch a camp (Engels - Latijn)

castramentor, castramentari, castramentatus sum pitch a camp; encamp;
castramentari

is ther a camp in town?
oppidum castra estne

castrmetor, castrmetari, castrmatatus sum pitch a camp; set up/pitch camp;
castrmatatus sum

semilixa, semilixae half sutler, "little more than a camp follower";
semilixa