So, here's a trivial direct Camel XML example for it.. Small enough that I'll display it here inline for cut-n-paste rather than download. As recommended by various apache.org docs, it uses the karaf JMS framework, rather than the apacheMQ framework.
There are fancier config options documented in other various webpages, but sometimes it's good to see the bare minimum requirements, to facilitate understanding.
The XML below would get placed in $KARAFTOP/deploy/sometest.xml
If you prefer, you can download simple_karaf.txt and rename to .xml