It is absolutely better than Dark Cloud, I would agree with that fully.
My main issue with it was the lack of party control and the AI kinda being better off dead for most battles. I will give Rogue Galaxy one thing over basically all other games on the PS2 in it's genera (except, maybe, Dragon Quest VIII), the story is the thing that kept me playing. The characters were really entertaining... it's just that the game that went over this story/world/characters/etc was super bleh. (And those crafting systems! Oi!)
Every time I think about the game I don't really remember enjoying my experience, but at the same time wasn't really dreading my experience. ...though, over all, if a game makes me stop and go, "Why aren't you as fun as you should be?" then I kinda sit it in the "bad" category.