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I'm planning on taking my 16 month old daughter on her first camping trip. I have it planned out to drive to Joshua Tree and car camp. Does anyone have any advice to share with a novice family camper?

Bring your own shade - because it won't be optional; and some reasonable barrier between the child and all the bugs that are only going to see a pile of helpless protein.
Bring the toys that are sure winners. You'll need a surefire distraction from time to time.
Your tent makes the playpen unnecessary. Just learn from my mistakes and keep the toiletries in the trunk.
If the varmints get into the used diapers, that's a whole new level of Ick.
Keep your expectations reasonable. You're still babysitting, after all, and that age is the committed enemy of productivity. All your camp chores will be twice as hard and take twice as long.
Infants do not tolerate extreme weather well. If the sky turns against you, you'll be throwing all the gear back into the trunk.

The good news is that when my kids were that age, they rode exceptionally well in the child-carrier backpack rigs.
Just have a plan - before you leave - for changing diapers on top of rocks. Your farthest point away from camp will be, reliably, the spot where the atrocious bowel movement occurs.
Think like that, and you'll be fine.

Have fun,

Tony

WOW- thanks for the great advice Tony! It was definitely insightful and will be put to good use.

Now... if I could only potty train my daughter by April..hmmmmmmm...