One way to do this is with the systems described below.
The unit below is from http://www.thecanorganizer.com/pantry.html
They come in packages of 4, mailed flat and you assemble them. They are made of cardboard and are quite inexpensive. You can fill your pantry with them. The site has good ideas on how to use these.
This is one version of the many versions of the "First In First Out" style can organizers found at www.shelfreliance.com. The red bags are 72 hour backpacks ready to go. The site has a feature where you can enter information to build a customized 72 hour kit.