Slime makes a good one that is very compact and connects directly to the battery. Or you could buy a foot pump and do it the manual way.... I have the Slime one, but there are others out there as well.
I used to carry a little "box store" compressor in the tent Tiny Mite to pump up the air mattress and for emergencies (never needed it for that thankfully). It came with a 12v plug end, but I changed that over to alligator clips so it would work on any battery. Put out 250 psi but not lots of volume, got the job done though. I carry it in the RZR now.