I've seen front mounted racks, but such are illegal in CA. Otherwise, would have probably gone that route and mounted a Yakima or Thule rack on the front.
Instead, we got the Thule swing-away bike rack that mounts on a standard 2" square hitch. It works very well, and is only a minor hassle - you have to unlatch and swing it away to get into the camper when on the road. However, while camped, the bikes are nicely parked (locked) beside the camper, and quickly unracked for use.