Charleville-Mezieres is a nice village along the Meuse cycle path. Just next to the village is the "Mount Olympe" leisure park where you also have the "Camping Municipale". Via a pedestrian/cycle bridge, it takes you about 10 minutes to reach the big city square with lots of restaurants and cafe's.
Monschau is a very pittoresk village and as should be expected, also crowded with other tourists. It's mostly car-free and has public parkings just outside the town. We decided to stay in a hotel in the center of the town so that we could stroll around later in the evening and early in the morning when the streets are less crowded. Having breakfast on the hotelterras next to the river Rur has certainly also its charms.
We stayed a few days in Maastricht and camped 7 km's from the citycenter at Camping De Oosterdriessen in Eijsden. The campsite is next to the Meuse and has a private beach. It really feels like a beach holiday.
You can visit Maastricht citycenter with a bus, stop is about 500 meters to the right from the entrance of the campsite.
Just across the busstop is "Buitengoed De Moosjtum", a nice place for lunch with fabulous ice cream.