It's not as common to have a hb with first babies as it is for subsequent children but there are plenty out there who have done it.
I've had 2 hbs with no.2 and no. 3. I felt confident about going for it as I knew I could have done it first time around.
While my first experience of giving birth was in a hospital it was still positive but I knew I would have preferred to be at home. DH had doubts but got over these during the course of pregnancy no. 2 especially after he met the community mw at 36 weeks, she put his mind at rest and after DC2 was born he became a complete convert and very pro home birth.
I found I was much more relaxed and calm at home, felt much more in control of what was happening and able to listen to/trust my own body more than when I was in hospital. There's just something about a medical environment and being surrounded by people in uniforms that makes me feel very passive.
I managed in hospital with just TENS - didn't even have gas and air and managed with the same at home.
The main reason first time home birthers transfer into hospital is for pain relief so it is a good idea to think about how you will manage your pain. Don't underestimate how overwhelming the pain of labour can be but equally don't underestimate your own ability to deal with it. I can heartily recommend a book called 'Birth Skills' by JuJu Sundin to help with this - the techniques in there worked a treat for me along with the TENS.
As for the mess - there won't be any. If you give birth in the pool it's mostly all contained. If you're on dry land then you'll have waterproof sheets - we used a tarpaulin covered with an old duvet on the floor and then those absorbent pads that the mws bring with them. Lots of old towels too plus waterproof decorators sheets on the sofa.
The best thing about hb for me was not having to make the 'is it time to go to hospital' decision and that awful drive while in labour, then being in our own home snuggled up in our own bed with the new arrival eating toast and drinking tea within 3 hours of baby arriving. DH was there the whole time and never sent home because visiting hours were over.
I can honestly say my 2 home births were the 2 best experiences of my life.