Usually it's better to castle than not to castle. If you want to attack your opponent's kingside with heavy pieces, you can castle queenside for example, you needn't avoid castling at all costs. Keeping your king in the center is usually dangerous unless there are no ways your opponent can attack there (for example, if the center is closed or you have good pieces' protection).
In many books / guides / videos etc. about opening principles castling is even said to be almost obligatory and there are advices to castle as early as possible. Of course, this is too risky, you should make sure you won't castle under an oncoming attack. Kramnik said he considered castling before move 10 to be a mistake; yet he regularly castles at some point unless there's an overwhelming reason not to.
Apparently a chess master wrote in 1784 that "great players never castle". I myself have won several games by not castling and using my king's rook as back-up to attack my opponent's castled king. This saves me one move and even beat my Kasparov computer on medium setting several times. Kasparov advised that this was propably the worst piece of advice given in the history of chess. Any comments please ?? Thanks.