Welding to the frame is a bad idea. The frame is heat treated after it's make and welding destroys the temper. Most tie downs bolt to the frame. You can get split (one on each side) or a full width bar.
Split:
These frames are low carbon frames and may be welded to with no issues. That being said, the welder must know what he is doing and not just punch holes everywere. Not for a novice. If you crawl under your truck, you will see welds all over the place. That's not silly putty holding everything together. :-laf And no the entire truck wasn't placed into an oven to heat threat the welds and frame, post welding. With quality welds, you will not have a problem. The newer hydro-formed frames may be another story. If you don't want to weld them, you can buy brackets that bolt on, as stated in Road Dog's (and my previous) post. The main thing is to support the camper.