We did not have children, by choice. We're very happy with that decision. We took a lot of 'heat' early on for not wanting children. I can't begin to tell you how many people, who raised children, have told us we made the right decision. We have seen far too many parents who are not happy with the 'child situation' they are in, or were in. And yes, plenty of people happy they raised kids.
Good for you, no one should have children if they don't want them. My youngest sister and her husband never wanted kids, but my late mother used to tell them they should have some like the rest of her sisters. Fortunately they stuck to their guns and have no regrets.