Baby eating habits

I feel like I failed as a mom. My child doesn't eat well.. it's impossible to actually get a breakfast, lunch and dinner in. They won't eat what I make them, and only want bread.. fruit and snacks. If I'm eating something they're all over it but sometimes what I eat isn't the healthiest. Rice, pasta, banana bread, ice cream. They're all in. I feel like I failed and don't know how to get them on track to eat more health. Any suggestions?