Since I didn't get any replies I take it that nobody is well-versed in "urban Camping." So I thought I'd fill you all in how our attempt at "urban camping" in our truck camper in San Francisco went.
We couldn't have been more pleased with how it worked out. Rolled-into the city at about 5:30, had a couple beers in the camper, went and had a great dinner, and then went to the concert. Parked only a few blocks from where the concert was.
We found a place on a side street that intersected Geary to park -- Geary is a main busy street. Our campsite, I mean parking place,was in between medical offices and a park. Had no hassles at all sleeping in the camper. We slept in and had a leisurely breakfast in the morning. I'm sure glad we didn't waste money on the RV park -- it would have been $70 plus two taxi rides.
Here's a picture of our "campsite" below. We have the Lance truck camper...notice our neighbor across the street in the bigger RV...from the looks of it my guess is that he may be camping long-term.