Rappelling is possible anytime during the day around Shivpuri even if you don't stay at the River camps.

There is a forest outpost that has rappelling facility with them. At times some camps also use their services. You can use their services anytime during the day at a nominal price of Rs. 50.

Rappelling facility is also there at some of the camps, and it comes along as part of the package. So obviously you can't just walk-in the camp and do rappelling.

Rock climbing is different from rappelling and is not conducted by the forest guys. And there is no rock climbing facility at any of the beach camps.