No, I don't feel guilty. I do think it's sad when people feel forced into a decision about working outside the home. I know people who would rather work, but the man thinks the wife should "stay home with the kids", so she does. I also know families where the wife would like to stay home, but they need the money (I know that's debatable, but probably true in this case), so she works.
One time while we were out with 2 other couples, one wife was rambling on about how it's so important for the mom to stay home with the kids while they're little, and how she will DEFINITELY do this when they have kids. The entire time, the other mom at the table (who was the one I mentioned above has to work), was nearly in tears. Of course, I had to put my foot in my mouth and say that since I had the better paying career, if one of us was staying home it would have been my DH, but that the decision to work or not was a personal decision between the couple, and was no one elses business! Subject was changed very quickly.
I do many things with my kids. I've been on at least one field trip each year (usually alternating one child each time), and I've been scout leaders for both of them. Yes, we eat out more than I'd like, and my house is messier than I like, but we do have lots of time together as a family. Just because I'm at work while they're in school doesn't mean that I'm not there for them when they need me (and even when they don't!!)