@atrium,
No, it's not cheating, but I agree that his explanation is incredible. Having said this, anything can happen, and he could have been tossing a number of things from the pharmacy bag into his suitcase and he didn't noticed he also tossed the condoms into the luggage until he saw them.
Of course this wouldn't explain how one happened to have remained in the luggage when he removed the others if they were in a box, and since your sex life is "normal" and he has been more interested than usual, it seems like he would be buying a box rather than several individually wrapped ones.
In addition, if he did buy them as separates, it undermines the theory that he thought they were something else when he emptied the pharmacy bag. That is unless he also bought individually wrapped Alka-Seltzer tablets, or vitamin supplements...you should have an idea if this is his shopping habit.
I also agree that unless there are other reasons to suspect he is or wants to cheat on you (simply because he many have intentionally brought a condom with him doesn't mean he had an assignation planned), I suggest you not obsess about it.
Not to fan the flame of paranoia but I have heard that men who are having affairs often have more sex with their partners than before, out of guilt or an attempt to somehow through the partner off the track. Most people are not expert deceivers. If he's having an affair he probably has or will provide you with other evidence. It's up to you whether you care to look for it, or let it all slide. Ignorance can be bliss.
I'm assuming that your husband uses condoms in your normal sex life. If not you've found the smoking gun.