What have you been earning in the IRA? (Depends on your investments and risk tolerance.)
What is the interest rate on the camper loan?
Are you likely to sell the camper? Do you have other funds you could draw if you have a real emergency?
If the interest rate on the camper loan is higher than the earnings rate on your IRA, then as a purely monetary matter, paying off the loan may be better. But you need to think about your other resources and other financial needs.
