How do you get kids to eat healthy?

So we've never really eaten healthy in this family. Growing up my mom worked double shifts so I seen her long enough for her to take me to McDonalds to grab something to eat on the way from school to the babysitters house. I am not that great of a cook either! This has turned into a confession post! Anyways I want to get better at being a role model for my kids, but we are all so used to the tasty unhealthy foods that when we try healthy foods it just isn't the same. I need advice on how to get passed all the whines of "can't we go out to eat?" and the "no way am I eating that!" before they even try it! I need simple easy and tasty food ideas that the whole family can enjoy. I also need to be able to buy the ingredients at Walmart cause that's the only store I have close by. Some of the recipes I found online call for ingredients I couldn't find. How do you get your kids to eat healthy? I know it's something I should of started when they were born then it would just be normal to them, but I'm just getting myself to the point of wanting to do better. Any ideas?