The thing about having children is that you absolutely cannot know what it's like until you actually have them. And then, of course, it's too late.
I'm convinced that I would have been happy without children. I would have lived a wonderful life, maybe with a spouse, maybe alone, traveling the world, working on my interests, and generally doing whatever I wanted to do. You don't miss what you never had.
But now that I have two kids, that life seems so hollow. Kids make you feel things that you've never felt before. It's like suddenly discovering a new rainbow of colors, or like listening to a piece of music that makes you simultaneously giddy with joy and wistfully sad and you can't explain why.
You can't compare the joy of having kids with any other pleasure you've experienced. It's like trying to compare having sex with having a great meal. It's not even the same scale.
Of course, everyone's different. Some people absolutely regret having kids (and that's sad for everyone). But if you have even a slight feeling like maybe you want to have kids, I would absolutely do it. My only regret is that I waited so long.