I had a number of very good bookshelf speakers (B&W 805D, Harbeth 30.2) and subwoofers (REL, SVS) in different rooms. Sound was very good but not even close to floor standers I now use (Wilson, Spatial Audio). As others stated above, integrating subs with bookshelfs can be difficult. I am convinced that using floor standers is much better option.
-GAR