Rochester, NY east side campgrounds are slim pickings-
KOA, Canandaigua, NY; just south of the Thruway (I-90), exit 44
Twilight RV Resort
is brand new, should be open in 2015, near Macedon, NY
Those are the closest on the east side. There are a couple in Geneva, Conesus (southeast), and Honeoye.
The west side has a few near Leroy. There are a few state parks in the area, but I think most only offer a campsite with water, electric, and a centralized sewer dump, not on the campsite.