ArkyKenny on 7/31/2013 10:00:30 PM:
You can camp at the city park in Pilot Grove, or the State Fair Grounds in Sedalia. I'd recommend PG. Click on the city for more info--in PG, the local police want to know you are there, but it's free.
PG also has c-store, fast food, grocery store, and a bar. Running water inside the toilet at the PG trailhead to clean up. Nice little town IMO.
No stealth camping--that is a no no on the Katy