The two victims, who were travelling separately, had both been sleeping in their vehicles when they were disturbed by Fourie, police said.
When the male victim confronted Fourie, the two men got into a struggle, and Fourie left but returned about 30 minutes later and approached the second victim and demanded her vehicle.
When the victim did not hand it over, Fourie stole a pouch containing her passport and $180 cash.
Both stolen items were subsequently recovered.
Court documents revealed Fourie was armed with a piece of wood wrapped in a tee-shirt when he assaulted the camper van owner during his attempt to rob him.
The arson related to Fourie damaging a cabinet and flooring by fire at Tauranga Hospital's mental health unit on October 26 after setting fire to some clothing with a lighter.
Judge Rollo further remanded Fourie into the care of the Henry Bennett Centre in Hamilton pending sentencing on March 3.