I didn't travel as much as I wanted to before kids, but I also wanted to have kids while I was in my 20s, so we went ahead and stopped using birth control. We were financially stable and iin the right place in our marriage and we decided not to wait until we were completely "ready" to have kids because we figured, how can you ever really be ready? That said, we were very strongly committed to creating the best home possible for our kids, so it wasn't like we were living a total party lifestyle or anything like that.
When I got pg I was disappointed about the lost opportunities for traveling the world and grand adventures but really I was 27...if those things were so very high on my list I would have done them instead of slogging through years of building my career, so I just owned up to my choices and let go of any regrets. I really did want our baby! I also let go of some expectations of what could and couldn't be done with kids. I was really disappointed about not being able to train hard for a sport climbing trip we had planned about a month after I found out I was pg...but we went anyway, and I trained enough. I climbed and and I climbed lead 3mo pregnant! Was much better than not going at all.
Having kids changes a lot of things but it doesn't change everything. We were big into backcountry camping and scrambling before kids, now we camp in the front country and do marked hiking trails but we feel we are priming the kids for more adventurous trips when they're school age. If we waited to have kids who knows how long we would have waited...we'd be older and have less energy dealing with babies and less energy for cool trips on the other side of that phase.
I also really like the idea that travel is an opportunity to look for similarities across cultures and universal human experience...and what could be more universal that raising a child?
FWIW, if you really want to have great adventures, you'll do it. I know a mom who backcountry camps with her DH, 5yo, and 1yo. I know a (Canadian) mom who IS living in China with her 6yo and 3yo. There was a great article in Mothering a few months back about a family who volunteered on an organic farm for a vacation. Parenting does not close all doors, it just means that you can't have as many doors open at the same time.