Our daughter is also 7, and she still occasionally shows up in our room during the night. She took forever to sleep through the night and still is used to having me with her when falling asleep, though in HER room. When she shows up at night, my rule is that if it's after 5 am, she can join us in our bed (I get up at 6), but before that, she will have to go back to her room. I will, however, go with her and lie down until she falls asleep again. I'm pretty confident she'll outgrow it.
How would it be if you walked her back to her room and tucked her in again for a little while? If she wasn't usually waking you up, she may be in a phase which will end soon.
About the sleeping bag, be aware that she might not be as uncomfortable sleeping on the floor with it as you would expect. Our kids do a sleep out on the living room floor periodically when we have a fire in the fireplace, and they seem to be perfectly happy. So while I completely agree with the principle that she has to deal with rearranging her sleeping pad and put it away herself, you should know that it's possible she won't be discouraged by the discomfort. Good luck!