If you'd rather be travelling and not hanging out with your girlfriend, that is your prerogative. But I think there will come a time (in the not too distant future) when she will get fed up being being left out and you'll come back to find that she's no longer available for you.
I guess it comes down to whether your girlfriend or the family/travel commitments mean more to you.
- - - Updated - - -
I just wanted to add that there really is no right or wrong here. It's OK if you want to travel lots and it's OK if she wants a boyfriend who doesn't go jetting off without her. This is really just a matter of compatibility.
If travelling frequently is important to you, you may well have to find a girl who's OK with it. But if you want to stay with this girl, you will have to curtail your travelling quite a bit.
Never regret anything that has happened in your life. It cannot be changed, forgotten or undone. So, take it as a lesson learned and move on.