As an elementary teacher and mom, I'll give two pieces of advice.
One, consider your child's academic peerformance before taking him or her out. If your child is doing well without much effort, then taking the child out for a trip in early elementary probably won't be a problem unless you're violating the school's attendance policy. But if your child is struggling to keep up at school, you're imposing a hardship on the child by taking him or her out of school for the trip. Be honest with yourself about how well and how easily your child performs before taking him or her out.
Two, please show consideration for your child's teacher by not requesting that he or she create an advance packet of work for your child to complete before or during the trip. This creates a lot of extra work for the teacher, especially when you consider that there might be multiple families taking kids out for trips every year. Let the teacher indicate how the child should best make up any important missed work, whether that's before or after the trip.