Well, how you set up your rotation depends on if your guild has members with enough firepower. You can easily have a good offense with Romulus, Reimund, Alt, Delf, and Camelot in the front line. If you're one of the better players in your guild, I suggest you do that. As for defense, you're on the lower side of things. I'd suggest a 1-man/2-man rotation to just prevent opponents from gathering GP Points and breaking your defense. Otherwise, put your offensive team on your defensive team from time to time if you have a safe lead and just heal.
As for filling up your team, use that space for Tam and swap Camelot for Tam on offense. That way, when you break the enemy's defense, you can start amassing GP Points.