I'm sure nearly every person who ended up needed their kids to take care of them probably felt the same way right up until they needed help.
Regardless, "future help" is definitely a terrible reason to have kids. As you noted, it's a complete change in life, lifestyle, and priorities. One needs to be ready for this (or as ready as one can be, anyway) before taking it on, and be willing to commit 100% to a journey that will be unpredictable and that has no guarantees of success or happiness.
As a parent that was previously in a "no way am I having kids" state, yet wouldn't trade in being a parent for anything else in the world, I have 100% respect for those who do and those who don't want to have kids.