Rhaegar is one of the most noblest characters in the series. I truthfully believe Rhaegar didn't even want to fight Robert and the Stark-Tully-Baratheon-Arryn armies. If Robert wasn't so angry about his precious Lyanna being "stolen" away, a compromise could have been reached. Aerys could have been deposed. Rhaegar could have been King. Peace could have been restored. Rhaegar was working with knowledge everyone else wasn't, or would never believe. He was doing something to protect all of Westeros, even Robert. He knew keeping Lyanna would cause a war that would destabilize the kingdom but, if he didn't follow the prophecy, another war would cause its total destruction.....everybody dead.
Now exactly as he predicted, 20 odd years later, his son is staring the devil himself in the face. Staring at Hell itself.
When the series is all said and done, Rhaegar will be remembered for sacrificing his life to give birth to the Prince that was Promised, and Robert will be remembered for dying a fat slobbering drunk who couldn't see his wife was fukking her own brother.
mad king killed two starks, ain't no way a compromise is happening. yaw can twist it how you want about Robert, we all know what happened on the trident .