When my child was this age, she was scared yet she wanted to, once she got there at camp she loved it.
I've been involved with scouts and watched kids do the same, yet some was so scared that we had to call home..
We always suggest that the parent send a stuff toy that they love and has the scent of mommy with them to camp. that helps.
Make sure they have #'s to reach you in case they do need to call you to come for your child. Just remember right now they are scared for it a new expereince and we all go thru that no matter what the age is.
I feel you are the best judgement on if you should send them or if you should wait.