Search the web for "vagrancy laws" in the US. It's not illegal to be poor, but there are other ways local laws can impact the homeless and those who are camping or "squatting" in some way or another. Here's just one sample link http://definitions.uslegal.com/v/vagrancy/

This is a subject for lawyers and civil rights advocates to argue. I see both sides of it and think there is no simple solution, especially in these times as government budgets at all levels are strained and it's unpopular for politicians to raise taxes.

You and Dave can choose to make your statement by not going somewhere, but there aren't too many desirable urban and suburban harbors where you won't have to contend with the same issues. There is a lot of competition for resources. On the water or on land, same issue. Yes, I have also volunteered at times, and the last time I volunteered to help repair a house I saw signals the family receiving help was "working the system" of the charity and there might have been some misrepresentation of the recipients' real situation.... I found that discouraging. Again, these things should be taken on a case by case basis, and many people do need help. However often they simply refuse to help themselves (when able) and make an active effort to be malingerers to milk what they can from social programs, charities and bleeding heart types. Those people need to be discouraged and changed one way or another, and exclusionary laws are one means society has that are less costly and less complex to implement and make it "somebody else' problem". Social programs are another, but they're costly, complex, and usually fail when implemented by government.

It's difficult to generalize. After all, I have been accused of being "broad brush" and not getting out of "my own little world" and don't want to trigger the wrath of those who consider themselves wiser and more worldly.